Localization and Control of a Continuum Robot, Ph.D. Dissertation Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor) ; Alasty, Aria (Supervisor)
Abstract
Magnetic steering of continuum robots is a promising technology that uses a magnetic field to control the robot without contact and can improve the accessibility, safety, and accuracy of the robot. On the other hand, magnetic localization can also be used as a positioning method without direct line of sight in various applications. Common magnetic localization methods face the challenge of dependence on initial guess, divergence, and high computational cost. In this research, by eliminating the unknowns related to the orientation and rewriting the equations, a new method for magnetic localization has been presented. The advantage of the new method in convergence and increasing the speed of...
Cataloging briefLocalization and Control of a Continuum Robot, Ph.D. Dissertation Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor) ; Alasty, Aria (Supervisor)
Abstract
Magnetic steering of continuum robots is a promising technology that uses a magnetic field to control the robot without contact and can improve the accessibility, safety, and accuracy of the robot. On the other hand, magnetic localization can also be used as a positioning method without direct line of sight in various applications. Common magnetic localization methods face the challenge of dependence on initial guess, divergence, and high computational cost. In this research, by eliminating the unknowns related to the orientation and rewriting the equations, a new method for magnetic localization has been presented. The advantage of the new method in convergence and increasing the speed of...
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