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Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope
In this paper, we demonstrate velocity-level closed-loop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of...
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| Pubblicato in: | Rep U S |
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| Autori principali: | , , , |
| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
2016
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| Soggetti: | |
| Accesso online: | https://ncbi.nlm.nih.gov/pmc/articles/PMC5354359/ https://ncbi.nlm.nih.gov/pubmed/28316873 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/IROS.2016.7759192 |
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