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.
Supported by The Scientific and Technological Research Council of Turkey via grant number 115E726.
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Ayit, O., Dede, M.İ.C. (2021). A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot. In: Rauter, G., Cattin, P.C., Zam, A., Riener, R., Carbone, G., Pisla, D. (eds) New Trends in Medical and Service Robotics. MESROB 2020. Mechanisms and Machine Science, vol 93. Springer, Cham. https://doi.org/10.1007/978-3-030-58104-6_11
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DOI: https://doi.org/10.1007/978-3-030-58104-6_11
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