Accurate estimation of the position and shape of the rolling joint in hyper-redundant manipulators
Jeongryul Kim,Yonghwan Moon,Seong-il Kwon,Keri Kim,Jeongryul Kim,Yonghwan Moon,Seong-il Kwon,Keri Kim
Hyper-redundant manipulators driven by cables are used in minimally invasive surgery because of their flexibility and small diameters. In particular, manipulators composed of many rigid links and joints have the advantages of high stiffness and payload. However, these manipulators have difficulty in estimating their positions and shapes using calculations based only on the kinematics model that as...
