A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven and model-based algorithms is proposed for the manipulator of a cable-pulley-...

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Veröffentlicht in:	Journal of mechanisms and robotics 2024-10, Vol.16 (10)
Hauptverfasser:	Wang, Zhengyu, Yu, Xiang, Hai, Mingxin, Qian, Sen, Wang, Daoming, Li, Ziqian
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
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