Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope
Xiangyu Wang,Ningbo Yu,Jianda Han,Yongchun Fang,Xiangyu Wang,Ningbo Yu,Jianda Han,Yongchun Fang
The robotic flexible endoscope is developed rapidly in the field of surgery robots due to its high flexibility and safety. However, some inherent features, e.g., high nonlinearity, material creep, complex dynamic hysteresis behaviors, and the unknown coupling effects between bending and twisting motions, can lead to the significant degradation on three-dimensional (3-D) positioning performance of ...
