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https://hdl.handle.net/11147/9781
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ayit, Orhan | - |
dc.contributor.author | Dede, Mehmet İsmet Can | - |
dc.date.accessioned | 2021-01-24T18:28:30Z | - |
dc.date.available | 2021-01-24T18:28:30Z | - |
dc.date.issued | 2021 | - |
dc.identifier.issn | 2211-0984 | - |
dc.identifier.issn | 2211-0992 | - |
dc.identifier.uri | https://doi.org/10.1007/978-3-030-58104-6_11 | - |
dc.identifier.uri | https://hdl.handle.net/11147/9781 | - |
dc.description.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. | en_US |
dc.description.sponsorship | Supported by The Scientific and Technological Research Council of Turkey via grant number 115E726. | en_US |
dc.language.iso | en | en_US |
dc.publisher | Springer | en_US |
dc.relation | Cerrahi Aletlerle Yönlendirilebilen Robot Yardımlı Endoskop Kontrol Sistemi (Neuroboscope) | - |
dc.relation.ispartof | Mechanisms and Machine Science | en_US |
dc.rights | info:eu-repo/semantics/closedAccess | en_US |
dc.subject | Dynamic modeling | en_US |
dc.subject | Endoscope holder robot | en_US |
dc.subject | Surgical robot | en_US |
dc.title | A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot | en_US |
dc.type | Book Part | en_US |
dc.institutionauthor | Ayit, Orhan | - |
dc.institutionauthor | Dede, Mehmet İsmet Can | - |
dc.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
dc.identifier.volume | 93 | en_US |
dc.identifier.startpage | 89 | en_US |
dc.identifier.endpage | 96 | en_US |
dc.identifier.scopus | 2-s2.0-85095967928 | en_US |
dc.relation.publicationcategory | Kitap Bölümü - Uluslararası | en_US |
dc.identifier.doi | 10.1007/978-3-030-58104-6_11 | - |
dc.relation.doi | 10.1007/978-3-030-58104-6_11 | en_US |
dc.coverage.doi | 10.1007/978-3-030-58104-6_11 | en_US |
dc.relation.grantno | 1.80E+308 | - |
dc.identifier.scopusquality | Q4 | - |
item.fulltext | No Fulltext | - |
item.openairetype | Book Part | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.languageiso639-1 | en | - |
item.cerifentitytype | Publications | - |
item.grantfulltext | none | - |
crisitem.author.dept | 03.10. Department of Mechanical Engineering | - |
crisitem.author.dept | 03.10. Department of Mechanical Engineering | - |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection |
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