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Title: A study on a computationally efficient controller design for a surgical robotic system
Authors: Ayit, Orhan
Dede, Mehmet İsmet Can
Keywords: Computed torque method
Independent joint controller
Simplified dynamic model
Computational efficiency
Publisher: Springer
Abstract: The control algorithms of the surgical robotic system using the robot’s dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.
Description: Article; Early Access
ISSN: 2195-268X
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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