Energy shaping control for robotic needle insertion
File(s)ICSTCC19-accepted.pdf (253.09 KB) CopyrightReceipt.pdf (18.99 KB)
Accepted version
Supporting information
Author(s)
Franco, Enrico
Brown, Timothy
Type
Conference Paper
Abstract
This work investigates the use of energy shaping control to reduce deflection in slender beams with tip load and actuation at the base. The ultimate goal of this research is a buckling avoidance strategy for robotic-assisted needle insertion. To this end, the rigid-link model of a flexible beam actuated at the base and subject to tip load is proposed, and an energy shaping approach is employed to construct a nonlinear controller that accounts for external forces. A comparative simulation study highlights the benefits of the proposed approach over a linear control baseline and a simplified nonlinear control.
Date Issued
2019-10-31
Date Acceptance
2019-07-18
Citation
IEEE Xplore Digital Library, 2019, pp.1-6
Publisher
IEEE
Start Page
1
End Page
6
Journal / Book Title
IEEE Xplore Digital Library
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://ieeexplore.ieee.org/document/8886055
Grant Number
EP/R009708/1
Source
23rd International Conference on System Theory, Control and Computing (ICSTCC)
Publication Status
Published
Start Date
2019-10-09
Finish Date
2019-10-11
Coverage Spatial
Sinaia, Romania
Date Publish Online
2019-10-31