A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous s...

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Detalles Bibliográficos
Autores principales: Liang, Yunlei, Du, Zhijiang, Wang, Weidong, Sun, Lining
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5676776/
https://www.ncbi.nlm.nih.gov/pubmed/28974011
http://dx.doi.org/10.3390/s17102257

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5676776/
https://www.ncbi.nlm.nih.gov/pubmed/28974011
http://dx.doi.org/10.3390/s17102257

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