Control Framework for Position Control of Three-Segment Tendon-Driven Continuum Robot

Each continuum robots have a more flexible and bendable structure than conventional manipulators. This makes it suitable for operating in narrow and deep surgical spaces. This chapter presents a control framework for position control of the three-segment tendon-driven continuum robot. The framework includes kinematic control in configuration space with null space optimization of robot configuration, kinematic constraints, and disturbance in joint space during the tracking process. The presented framework has been successfully simulated to regulate the position error to near zero also can compensate for the joint level disturbances in the form of tendon length variation due to buckling and friction.