Comber et al., 2011 - Google Patents
Precision position tracking of MR-compatible pneumatic piston-cylinder using sliding mode controlComber et al., 2011
View PDF- Document ID
- 15055147093743869705
- Author
- Comber D
- Barth E
- Publication year
- Publication venue
- Dynamic Systems and Control Conference
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Snippet
This paper presents the nonlinear dynamics and sliding mode control design for a 1-DOF needle insertion robot. The robot actuator is an MR-compatible pneumatic piston-cylinder. A brief review of the dynamics for this type of actuator is provided. The reaction force of tissue …
- 210000001519 tissues 0 abstract description 7
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