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Snake-like robots allow to perform examination tasks of difficultly accessible areas. In this context a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. Because of the electromagnetic actuation principle, the system provides good path following capabilities in combination with high resistance against manipulation forces. An efficient and...
To overcome restrictions of passive, flexible endoscopes in technical tasks (e. g. inspection jobs) as well as in medical interventions, such as minimally invasive surgery, a hyper-redundant active shaft concept is proposed. Due to its unique binary, electromagnetic actuation concept it features good resistance with respect to manipulation forces. Thanks to an active control of each element of the...
A typical instrument for different tasks in minimally invasive surgery is a flexible endoscope. To overcome the problem of restricted motion of today's systems, a hyper-redundant active shaft concept is developed. It features good resistance with respect to manipulation forces through its unique binary, electromagnetic actuation concept. With an active control of each element of the hyper-redundant...
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot...
A feedforward trajectory command shaping algorithm is proposed to simultaneously reduce the contouring errors and avoid structural vibrations in five-axis CNC machine tools. Trajectory shaping is used to avoid the excitation of the transient, inertial vibrations but at the expense of distorting the reference path due to added delay. The contouring error caused by both trajectory shaping and limited...
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