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In this paper, the problem of path planning for needle insertion into a soft tissue is considered. A new method is proposed which does not have the disadvantage and difficulties of the previous methods, namely disability in modeling short distances or 3D path planning complexities. In the proposed method by dividing the primary path into short plane paths and assuming a point near each obstacle as...
In this paper, the problem of tip position tracking control of a rigid-flexible manipulator is investigated. The backstepping design scheme is developed for this tracking control problem. The proposed backstepping controller stabilizes the flexible robotic manipulator while driving the trajectory tracking error and the tip-deflection asymptotically to zero. As a case study, the needle insertion problem...
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