Abstract
Aiming at the kinematic modeling of bevel tip flexible needle, this paper proposes the deflection unicycle model (DUM) for the nonholonomic system of the needle. Based on this, according to the actual path and the error analysis, a novel deflection unicycle model with rebound (DUMR) is proposed, which more accords with the facts. Kinematics is simplified and forward kinematics is calculated using screw theory and product of exponentials formula. The least square method is adopted to fit the experimental data and the parameters of the model are gained. Results show that the model with rebound is much superior to the model without rebound. What’s more, the maximum error, the number of large errors and the root mean square relative to the model are little enough to fit the actual path well.
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Yong-de, Z., Yan-jiang, Z. (2010). Kinematic Modeling of Bevel Tip Flexible Needle. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_38
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DOI: https://doi.org/10.1007/978-3-642-16587-0_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16586-3
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