Imperial College London
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DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
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Contact

 

e.franco11 Website CV

 
 
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Location

 

414BBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Franco:2019:10.1109/ICSTCC.2019.8886055,
author = {Franco, E and Brown, T},
doi = {10.1109/ICSTCC.2019.8886055},
pages = {1--6},
publisher = {IEEE},
title = {Energy shaping control for robotic needle insertion},
url = {http://dx.doi.org/10.1109/ICSTCC.2019.8886055},
year = {2019}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - 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.
AU  - Franco,E
AU  - Brown,T
DO  - 10.1109/ICSTCC.2019.8886055
EP  - 6
PB  - IEEE
PY  - 2019///
SP  - 1
TI  - Energy shaping control for robotic needle insertion
UR  - http://dx.doi.org/10.1109/ICSTCC.2019.8886055
UR  - https://ieeexplore.ieee.org/document/8886055
UR  - http://hdl.handle.net/10044/1/75013
ER  -
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