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Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic me...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156176/ https://www.ncbi.nlm.nih.gov/pubmed/34067868 http://dx.doi.org/10.3390/s21103498 |