• DocumentCode
    669468
  • Title

    Error compensation for a 2 DOF bendable endoscope mechanism

  • Author

    Hyun-Soo Yoon ; Jiun Jeon ; Jae Heon Chung ; Byung-Ju Yi

  • Author_Institution
    Hanyang Univ., Ansan, South Korea
  • fYear
    2013
  • fDate
    20-23 Oct. 2013
  • Firstpage
    862
  • Lastpage
    865
  • Abstract
    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.
  • Keywords
    compensation; end effectors; medical robotics; 2 DOF bendable endoscope mechanism; end-effector design; error compensation algorithm; kinematic model; magnetic type external sensor; surgical robot system; Error compensation; bendable mechanism;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control, Automation and Systems (ICCAS), 2013 13th International Conference on
  • Conference_Location
    Gwangju
  • ISSN
    2093-7121
  • Print_ISBN
    978-89-93215-05-2
  • Type

    conf

  • DOI
    10.1109/ICCAS.2013.6704034
  • Filename
    6704034
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=669468