Modeling and Visual Servoing of Single and Cooperative Continuum Robots
Somayeh Norouzi-Ghazbi
Abstract:<p>This thesis dealt with modeling and visual servoing (VS) of continuum robots (CRs) and one of their recently introduced configurations, cooperative-CRs (CCRs). Application-wise, the focus was on small-sized CRs which are a commonly used type of CRs in minimally invasive surgeries (MIS). First, an introduction to continuum robots, and various configurations of CRs were presented. In the next step, kinematic modeling of single-CR and CCRs were presented. Furthermore, dynamic modeling of smallsized CRs … Show more
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