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A Magnetic Laser Scanner for Endoscopic MicrosurgeryModeling, Identification and Feed-Forward Control

A Magnetic Laser Scanner for Endoscopic Microsurgery: Modeling, Identification and Feed-Forward... [The magnetic laser scanner is influenced by three main factors: (i) the relation between coil currents and the magnetic torque produced on the permanent magnets, (ii) the mechanical bending of the optical fiber, and (iii) the optical focusing of the laser beam. This chapter focuses on developing a model to represent all these relationships based on experimental observations. The dynamical model of the system is identified by using the electromagnets current (input), the bending angle and the laser position (output). Then, the identified model is used in a feed-forward controller to execute desired trajectories.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

A Magnetic Laser Scanner for Endoscopic MicrosurgeryModeling, Identification and Feed-Forward Control

Part of the Springer Theses Book Series
Acemoglu, Alperen
Springer Journals — Jul 27, 2019
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7 pages

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Publisher
Springer International Publishing
Copyright
© Springer Nature Switzerland AG 2020
ISBN
978-3-030-23192-7
Pages
37 –44
DOI
10.1007/978-3-030-23193-4_4
Publisher site
See Chapter on Publisher Site

Abstract

[The magnetic laser scanner is influenced by three main factors: (i) the relation between coil currents and the magnetic torque produced on the permanent magnets, (ii) the mechanical bending of the optical fiber, and (iii) the optical focusing of the laser beam. This chapter focuses on developing a model to represent all these relationships based on experimental observations. The dynamical model of the system is identified by using the electromagnets current (input), the bending angle and the laser position (output). Then, the identified model is used in a feed-forward controller to execute desired trajectories.]

Published: Jul 27, 2019

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