A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot
| dc.contributor.author | Ayit, Orhan | |
| dc.contributor.author | Dede, Mehmet Ismet Can | |
| dc.coverage.doi | 10.1007/978-3-030-58104-6_11 | |
| dc.date.accessioned | 2021-01-24T18:28:30Z | |
| dc.date.available | 2021-01-24T18:28:30Z | |
| dc.date.issued | 2021 | |
| dc.description.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. | en_US |
| dc.description.sponsorship | Scientific and Technological Research Council of Turkey [115E726] | en_US |
| dc.description.sponsorship | Supported by The Scientific and Technological Research Council of Turkey via grant number 115E726. | en_US |
| dc.identifier.doi | 10.1007/978-3-030-58104-6_11 | |
| dc.identifier.doi | 10.1007/978-3-030-58104-6_11 | en_US |
| dc.identifier.isbn | 9783030581060 | |
| dc.identifier.isbn | 9783030581046 | |
| dc.identifier.isbn | 9783030581039 | |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.issn | 2211-0992 | |
| dc.identifier.scopus | 2-s2.0-85095967928 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-030-58104-6_11 | |
| dc.identifier.uri | https://hdl.handle.net/11147/9781 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer international Publishing Ag | en_US |
| dc.relation | Cerrahi Aletlerle Yönlendirilebilen Robot Yardımlı Endoskop Kontrol Sistemi (Neuroboscope) | |
| dc.relation.ispartof | 7th International Workshop on New Trends in Medical and Service Robots -- 2020 -- Basel, SWITZERLAND | en_US |
| dc.relation.ispartofseries | Mechanisms and Machine Science | |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Surgical Robot | en_US |
| dc.subject | Dynamic Modeling | en_US |
| dc.subject | Endoscope Holder Robot | en_US |
| dc.title | A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Ayit, Orhan | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
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| gdc.description.department | İzmir Institute of Technology | en_US |
| gdc.description.departmenttemp | [Ayit, Orhan; Dede, Mehmet Ismet Can] Izmir Inst Technol, Izmir, Turkiye | en_US |
| gdc.description.endpage | 96 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 89 | en_US |
| gdc.description.volume | 93 | en_US |
| gdc.description.woscitationindex | Conference Proceedings Citation Index - Science | |
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