Error compensation for a 2 DOF bendable endoscope mechanism

This work deals with error compensation for a 2 DOF bendable endoscope mechanism that employs a spring as a backbone. Due to the nature of the spring´s flexibility, there exists uncertainty in the kinematic model. Using a magnetic type external sensor, the output error of the bendable mechanism is measured and it is compensated by using an error compensation algorithm. Through experimentation, we showed that the error was compensated up to 95 percent.