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- W2982489306 abstract "This work investigates the use of energy shaping control to reduce deflection in slender beams with tip load and actuation at the base. The ultimate goal of this research is a buckling avoidance strategy for robotic-assisted needle insertion. To this end, the rigid-link model of a flexible beam actuated at the base and subject to tip load is proposed, and an energy shaping approach is employed to construct a nonlinear controller that accounts for external forces. A comparative simulation study highlights the benefits of the proposed approach over a linear control baseline and a simplified nonlinear control." @default.
- W2982489306 created "2019-11-08" @default.
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- W2982489306 date "2019-10-01" @default.
- W2982489306 modified "2023-10-16" @default.
- W2982489306 title "Energy Shaping Control for Robotic Needle Insertion" @default.
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- W2982489306 doi "https://doi.org/10.1109/icstcc.2019.8886055" @default.
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