Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9781
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dc.contributor.authorAyit, Orhan-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2021-01-24T18:28:30Z-
dc.date.available2021-01-24T18:28:30Z-
dc.date.issued2021-
dc.identifier.issn2211-0984-
dc.identifier.issn2211-0992-
dc.identifier.urihttps://doi.org/10.1007/978-3-030-58104-6_11-
dc.identifier.urihttps://hdl.handle.net/11147/9781-
dc.description.abstractExecution 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.en_US
dc.description.sponsorshipSupported by The Scientific and Technological Research Council of Turkey via grant number 115E726.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relationCerrahi Aletlerle Yönlendirilebilen Robot Yardımlı Endoskop Kontrol Sistemi (Neuroboscope)-
dc.relation.ispartofMechanisms and Machine Scienceen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectDynamic modelingen_US
dc.subjectEndoscope holder roboten_US
dc.subjectSurgical roboten_US
dc.titleA New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Roboten_US
dc.typeBook Parten_US
dc.institutionauthorAyit, Orhan-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume93en_US
dc.identifier.startpage89en_US
dc.identifier.endpage96en_US
dc.identifier.scopus2-s2.0-85095967928en_US
dc.relation.publicationcategoryKitap Bölümü - Uluslararasıen_US
dc.identifier.doi10.1007/978-3-030-58104-6_11-
dc.relation.doi10.1007/978-3-030-58104-6_11en_US
dc.coverage.doi10.1007/978-3-030-58104-6_11en_US
dc.relation.grantno1.80E+308-
dc.identifier.scopusqualityQ4-
item.fulltextNo Fulltext-
item.openairetypeBook Part-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextnone-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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