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Intelligent Service Robotics
Published in: Intelligent Service Robotics 2/2019

12-02-2019 | Original Research Paper

Motion planning and control for endoscopic operations of continuum manipulators

Author: Guangping He

Published in: Intelligent Service Robotics | Issue 2/2019

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Abstract

This paper presents a novel coordinated motion planning method for solving the inverse kinematic problems of endoscopic operations of continuum manipulators. For safe and stable control of the continuum manipulators in complex constrained environments, a saturated feedback controller is proposed. The global stability of the controller is analyzed. Some numerical simulations also demonstrate that the proposed motion planning method and the control approach are feasible under certain conditions.
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Metadata
Title
Motion planning and control for endoscopic operations of continuum manipulators
Author
Guangping He
Publication date
12-02-2019
Publisher
Springer Berlin Heidelberg
Published in
Intelligent Service Robotics / Issue 2/2019
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-018-00269-0

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