Closed Loop Control of Tendon Driven Continuum Robots Using IMUs
Manu Srivastava,Richard Groff,Ian D. Walker,Manu Srivastava,Richard Groff,Ian D. Walker
In this paper, we present a new approach to the control of continuum robot sections using IMU quaternion feedback. We use a discrete time root finding algorithm to steer a continuum section in the desired shape space direction. We found that the approach lacks end effector positioning accuracy when used by itself, however, when used in conjunction with a feedforward model it actively counters the ...
