Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Franco:2021:10.1016/j.ifacol.2020.12.2689,
author = {Franco, E and Tang, J and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1016/j.ifacol.2020.12.2689},
pages = {9847--9852},
publisher = {Elsevier},
title = {Position control of soft manipulators with dynamic and kinematic uncertainties},
url = {http://dx.doi.org/10.1016/j.ifacol.2020.12.2689},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This work investigates the position control problem for a soft continuum manipulator in Cartesian space intended for minimally invasive surgery. Soft continuum manipulators have a large number of degrees-of-freedom and are particularly susceptible to external forces because of their compliance. This, in conjunction with the limited number of sensors typically available, results in uncertain kinematics, which further complicates the control problem. We have designed a partial state feedback that compensates the effects of external forces employing a rigid-link model and a port-Hamiltonian approach and we have investigated in detail the use of integral action to achieve position regulation in Cartesian space. Local stability conditions are discussed with a Lyapunov approach. The performance of the controller is compared with that achieved with a radial-basis-functions neural network by means of simulations and experiments on two prototypes.
AU  - Franco,E
AU  - Tang,J
AU  - Garriga,Casanovas A
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1016/j.ifacol.2020.12.2689
EP  - 9852
PB  - Elsevier
PY  - 2021///
SN  - 2405-8963
SP  - 9847
TI  - Position control of soft manipulators with dynamic and kinematic uncertainties
UR  - http://dx.doi.org/10.1016/j.ifacol.2020.12.2689
UR  - http://hdl.handle.net/10044/1/87780
ER  -
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