二自由度可弯曲内窥镜机构误差补偿

2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI:10.1109/ICCAS.2013.6704034

Hyun-Soo Yoon, Jiun Jeon, J. Chung, B. Yi

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引用次数: 2

摘要

本文研究了一种采用弹簧作为主干的2自由度可弯曲内窥镜机构的误差补偿。由于弹簧的柔性特性，其运动学模型存在不确定性。采用磁性外置传感器测量可弯曲机构的输出误差，并采用误差补偿算法对其进行补偿。通过实验，我们证明了误差补偿高达95%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Error compensation for a 2 DOF bendable endoscope mechanism

This work deals with error compensation for a 2 DOF bendable endoscope mechanism that employs a spring as a backbone. Due to the nature of the spring's flexibility, there exists uncertainty in the kinematic model. Using a magnetic type external sensor, the output error of the bendable mechanism is measured and it is compensated by using an error compensation algorithm. Through experimentation, we showed that the error was compensated up to 95 percent.

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2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)

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