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Motion planning and control for endoscopic operations of continuum manipulators

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Abstract

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.

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Acknowledgements

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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  1. Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing, 100144, China

    Guangping He

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  1. Guangping He
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Correspondence to Guangping He.

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He, G. Motion planning and control for endoscopic operations of continuum manipulators. Intel Serv Robotics 12, 159–166 (2019). https://doi.org/10.1007/s11370-018-00269-0

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  • DOI: https://doi.org/10.1007/s11370-018-00269-0

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