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 Ismet Can-
dc.date.accessioned2021-01-24T18:28:30Z-
dc.date.available2021-01-24T18:28:30Z-
dc.date.issued2021-
dc.identifier.isbn9783030581060-
dc.identifier.isbn9783030581046-
dc.identifier.isbn9783030581039-
dc.identifier.issn2211-0984-
dc.identifier.issn2211-0992-
dc.identifier.urihttps://doi.org/10.1007/978-3-030-58104-6_11-
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.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey [115E726]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.publisherSpringer international Publishing Agen_US
dc.relationCerrahi Aletlerle Yönlendirilebilen Robot Yardımlı Endoskop Kontrol Sistemi (Neuroboscope)-
dc.relation.ispartof7th International Workshop on New Trends in Medical and Service Robots -- 2020 -- Basel, SWITZERLANDen_US
dc.relation.ispartofseriesMechanisms and Machine Science-
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectSurgical Roboten_US
dc.subjectDynamic Modelingen_US
dc.subjectEndoscope Holder Roboten_US
dc.titleA New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Roboten_US
dc.typeConference Objecten_US
dc.institutionauthorAyit, Orhan-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technologyen_US
dc.identifier.volume93en_US
dc.identifier.startpage89en_US
dc.identifier.endpage96en_US
dc.identifier.wosWOS:001447376800011-
dc.identifier.scopus2-s2.0-85095967928-
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_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_11-
dc.relation.grantno1.79769313486232E+308-
dc.identifier.wosqualityN/A-
dc.identifier.scopusqualityQ4-
dc.description.woscitationindexConference Proceedings Citation Index - Science-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.openairetypeConference Object-
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
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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