基于占空比旋转的针转向三维控制算法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI:10.1109/ICMECH.2013.6518542

N. A. Wood, C. Lehocky, C. Riviere

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引用次数: 12

摘要

柔性斜尖针曲率的比例控制可以通过以占空比旋转针轴来完成。利用这种技术，一种基于自动驾驶汽车控制器的二维图像引导路径跟踪控制算法已经得到了验证。本文描述了一种计算简单的算法，将路径跟踪控制扩展到三维空间。给出了仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Algorithm for three-dimensional control of needle steering via duty-cycled rotation

Proportional control of curvature of a flexible bevel-tipped needle can be accomplished by rotating the needle shaft with a duty cycle. Using this technique, an algorithm for image-guided path-following control in two dimensions, based on an autonomous vehicle controller, has been previously demonstrated. This paper describes a computationally simple algorithm that extends the path-following control to three dimensions. Results from simulation are presented.

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2013 IEEE International Conference on Mechatronics (ICM)

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