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Error compensation for a 2 DOF bendable endoscope mechanism
- Authors
- Yoon, Hyun Soo; Jeon, Jiun; Chung, Jae heon; Yi, Byung ju
- Issue Date
- Oct-2013
- Publisher
- IEEE
- Keywords
- bendable mechanism; Error compensation
- Citation
- International Conference on Control, Automation and Systems, pp 862 - 865
- Pages
- 4
- Indexed
- SCIE
SCOPUS
- Journal Title
- International Conference on Control, Automation and Systems
- Start Page
- 862
- End Page
- 865
- ISSN
- 2093-7121
1598-7833
- Abstract
- This work deals with error compensation for a 2 DOF bendable endoscope mechanism that employs a spring as a backbone. Due to the nature of the spring's flexibility, there exists uncertainty in the kinematic model. Using a magnetic type external sensor, the output error of the bendable mechanism is measured and it is compensated by using an error compensation algorithm. Through experimentation, we showed that the error was compensated up to 95 percent. © 2013 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)