Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/14516
Title: | A Study on a Computationally Efficient Controller Design for a Surgical Robotic System | Authors: | Ayit, Orhan Dede, Mehmet Ismet Can |
Keywords: | Simplified dynamic model Computed torque method Independent joint controller |
Publisher: | Springernature | 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. | URI: | https://doi.org/10.1007/s40435-023-01164-y https://hdl.handle.net/11147/14516 |
ISSN: | 2195-268X 2195-2698 |
Appears in Collections: | Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Show full item record
CORE Recommender
SCOPUSTM
Citations
2
checked on Dec 13, 2024
Page view(s)
98
checked on Dec 9, 2024
Google ScholarTM
Check
Altmetric
Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.