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

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