@inproceedings{8bd4cff77f7c489ba3e4434141919632,
title = "Development of control system for colonoscopic robot",
abstract = "The continuum robot features continuously deformable backbone as opposed to traditional serial or parallel robot. It has good potential application in diagnose of gastrointestinal diseases and minimally invasive surgery. Aimed at the advantages of continuum robot, a colonoscopic robot with continuum structure is developed. In order to realize the control of colonoscopic robot, a control system with distributed structure is developed. The personal computer of this control system is constructed as upper level computer and the motion controllers based on DSP or ARM are used as lower level computer. The structure of colonoscopic robot is introduced in this paper. The kinematic base of control system is proposed. The control system, including the overall structure, the hardware and software, are analyzed respectively.",
keywords = "Colonoscopic robot, Continuum structure, Control system, Motion controller",
author = "Haiyan Hu and Juan Li and Weidong Li and Weida Li and Lining Sun",
year = "2013",
doi = "10.4028/www.scientific.net/AMM.278-280.556",
language = "英语",
isbn = "9783037855959",
series = "Applied Mechanics and Materials",
pages = "556--560",
booktitle = "Advances in Mechatronics and Control Engineering",
note = "2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012 ; Conference date: 29-11-2012 Through 30-11-2012",
}