Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/14516
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dc.contributor.authorAyit, Orhan-
dc.contributor.authorDede, Mehmet Ismet Can-
dc.date.accessioned2024-06-19T14:28:41Z-
dc.date.available2024-06-19T14:28:41Z-
dc.date.issued2023-
dc.identifier.issn2195-268X-
dc.identifier.issn2195-2698-
dc.identifier.urihttps://doi.org/10.1007/s40435-023-01164-y-
dc.identifier.urihttps://hdl.handle.net/11147/14516-
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.en_US
dc.description.sponsorshipThis work was supported in part by The Scientific and Technological Research Council of Turkey via grant number 219M483.en_US
dc.description.sponsorshipThis work was supported in part by The Scientific and Technological Research Council of Turkey via grant number 219M483.en_US
dc.language.isoenen_US
dc.publisherSpringernatureen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectSimplified dynamic modelen_US
dc.subjectComputed torque methoden_US
dc.subjectIndependent joint controlleren_US
dc.titleA study on a computationally efficient controller design for a surgical robotic systemen_US
dc.typeArticleen_US
dc.departmentIzmir Institute of Technologyen_US
dc.identifier.volume11en_US
dc.identifier.issue6en_US
dc.identifier.startpage3176en_US
dc.identifier.endpage3187en_US
dc.identifier.wosWOS:001071034900002-
dc.identifier.scopus2-s2.0-85153031240-
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/s40435-023-01164-y-
dc.authorscopusid56028184400-
dc.authorscopusid55561029700-
dc.identifier.scopusqualityQ2-
item.fulltextNo Fulltext-
item.grantfulltextnone-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeArticle-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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