Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/13662| 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 | URI: | https://doi.org/10.1007/s40435-023-01164-y https://hdl.handle.net/11147/13662 |
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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| File | Size | Format | |
|---|---|---|---|
| A-study-on.pdf Until 2025-01-01 | 2.69 MB | Adobe PDF | View/Open Request a copy |
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