Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments

Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments

Minimally invasive procedures have gained ever-increasing popularity due to their advantages of smaller incisions, faster recoveries, fewer complications, and reduced scarring to name a few. With the force exertion and curvilinear flexibility at their distal end effectors, the continuum tubular robo...

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Bibliographic Details
Main Authors: Keyu Wu, Guoniu Zhu, Liao Wu, Wenchao Gao, Shuang Song, Chwee Ming Lim, Hongliang Ren
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Visual servoing
singularity-avoidance
singularity-resistant
model-free
continuum tubular robots
concentric tube robots
Online Access:https://ieeexplore.ieee.org/document/8607974/

Internet

https://ieeexplore.ieee.org/document/8607974/

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