... of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm. Design/methodology/approach A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics...

...Shuizhong Zou; Bo Pan; Yili Fu; Shuixiang Guo Purpose The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative...