Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems

• المؤلفون الرئيسيون: Do, T. N., Tjahjowidodo, T., Lau, M. W. S., Yamamoto, T., Phee, S. J.
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2014
• الموضوعات: DRNTU::Engineering::Mechanical engineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/99962; http://hdl.handle.net/10220/19540

Tendon-sheath mechanism has “revolutionized” the use of flexible endoscopic systems, by its many advantages of high maneuverability, lightweight, low cost, and simple design. However, nonlinear phenomena such as friction and backlash hysteresis present major challenges for motion control of the tool...