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Camila Valentina Osorio Pena,Laura Catalina Lopez Riano,Julian David Medina Alfonso,Hernando Leon-Rodriguez 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.