2024
DOI: 10.3389/frobt.2024.1358857
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Model-based trajectory tracking of a compliant continuum robot

Solomon Pekris,
Robert D. Williams,
Thibaud Atkins
et al.

Abstract: Introduction: Compliant mechanisms, especially continuum robots, are becoming integral to advancements in minimally invasive surgery due to their ability to autonomously navigate natural pathways, significantly reducing collision severity. A major challenge lies in developing an effective control strategy to accurately reflect their behavior for enhanced operational precision.Methods: This study examines the trajectory tracking capabilities of a tendon-driven continuum robot at its tip. We introduce a novel fe… Show more

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