Motion planning and control for endoscopic operations of continuum manipulators
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.
KeywordsContinuum manipulators Endoscopic operations Motion planning Control Robots
This work was supported by the Natural Science Foundation of Beijing under Grants L172001, 3172009 and 16L00001 and the National Natural Science Foundation of China under Grant 51775002.
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