Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/13662
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dc.contributor.authorAyit, Orhan-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2023-07-27T19:51:13Z-
dc.date.available2023-07-27T19:51:13Z-
dc.date.issued2023-
dc.identifier.issn2195-268X-
dc.identifier.urihttps://doi.org/10.1007/s40435-023-01164-y-
dc.identifier.urihttps://hdl.handle.net/11147/13662-
dc.descriptionArticle; Early Accessen_US
dc.description.abstractThe 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.en_US
dc.description.sponsorshipThis study was supported by a grant of 219M483 funded by The Scientific and Technological Research Council of Turkey (TÜBİTAK). The funders had no role in study design, data collection, analysis, and interpretation, or preparation of the manuscript.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofInternational Journal of Dynamics and Controlen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectComputed torque methoden_US
dc.subjectIndependent joint controlleren_US
dc.subjectSimplified dynamic modelen_US
dc.subjectComputational efficiencyen_US
dc.titleA Study on a Computationally Efficient Controller Design for a Surgical Robotic Systemen_US
dc.typeArticleen_US
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.wosWOS:001071034900002en_US
dc.identifier.scopus2-s2.0-85153031240en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıtr
dc.identifier.doi10.1007/s40435-023-01164-y-
dc.identifier.doi10.1007/s40435-023-01164-
dc.authorscopusid56028184400-
dc.authorscopusid55561029700-
dc.identifier.scopusqualityQ2-
item.cerifentitytypePublications-
item.grantfulltextembargo_20250101-
item.fulltextWith Fulltext-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.languageiso639-1en-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
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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