Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/9781
Title: | A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot | Authors: | Ayit, Orhan Dede, Mehmet İsmet Can |
Keywords: | Dynamic modeling Endoscope holder robot Surgical robot |
Publisher: | Springer | Abstract: | Execution of model-based control algorithms such as computed torque technique requires the knowledge of the dynamic model of the robotic system. In our work, the active part of the surgical robot, NeuRoboScope, has a parallel kinematics architecture and the dynamic model is relatively complicated to run in a microprocessor with limited computing capabilities. For this reason, we formulated a simplified dynamic model to run in the selected microprocessor. In this work, a new formula for calculating the correction coefficients is described to minimize the errors in the whole orientation range of the robot’s base platform. This new formula is examined in terms of execution time and the result is reported in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG. | URI: | https://doi.org/10.1007/978-3-030-58104-6_11 https://hdl.handle.net/11147/9781 |
ISSN: | 2211-0984 2211-0992 |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection |
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