Modelling And Position Control Of The Soft Manipulator

Jan Fras,Mateusz Macias,Jan Czarnowski,Jakub Glowka

SOFT AND STIFFNESS-CONTROLLABLE ROBOTICS SOLUTIONS FOR MINIMALLY INVASIVE SURGERY: THE STIFF-FLOP APPROACH（2018）

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摘要

This chapter presents the numerical kinematics model of the manipulator developed during the STIFF-FLOP project. The model is based on the Euler-Bernoulli beam theory and Hooke's law and provides the manipulator shape approximation based on the sensor readings and pressure input values. The described model has been numerically inverted and used for model-based position and orientation control for the manipulator.

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关键词

position control,modelling

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