Configuration tracking for continuum manipulators with coupled tendon drive

IEEE Transactions on Robotics

Volumn 25, Issue 4, 2009, Pages 798-808

  Camarillo, David B ^a,b   Carlson, Christopher R ^b   Salisbury, J Kenneth ^a  

^a STANFORD UNIVERSITY   (United States)

^b Hansen Medical Inc   (United States)

Author keywords

Cable drive; Continuum robot; Flexible arm; Medical robot

Indexed keywords

BEAM CONFIGURATION; CONTINUUM ROBOT; FLEXIBLE ARM; FLEXIBLE DEVICE; FORWARD KINEMATICS; INDEPENDENT CONTROL; INTERNAL LOADS; LINEAR BEAM; MEDICAL PROCEDURES; MEDICAL ROBOT; ROBOTIC CONTROLS; TENDON DRIVE; TENDON DRIVEN;

CABLES; FLEXIBLE MANIPULATORS; INVERSE KINEMATICS; ROBOTIC ARMS;

TENDONS;

EID: 69249203623     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2022426     Document Type: Article

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