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Keywords: Preoperative manual adjustment
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Journal Articles
A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot
Available to Purchase
Industrial Robot (2024) 51 (1): 7–19.
Published: 05 January 2024
... for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment. An improved Stribeck friction model is introduced to reduce the influence of encoder noise, which minimizes...
