A Study on a Computationally Efficient Controller Design for a Surgical Robotic System
| dc.contributor.author | Ayit, Orhan | |
| dc.contributor.author | Dede, Mehmet Ismet Can | |
| dc.date.accessioned | 2024-06-19T14:28:41Z | |
| dc.date.available | 2024-06-19T14:28:41Z | |
| dc.date.issued | 2023 | |
| dc.description.abstract | The control algorithms of the surgical robotic system using the robot's dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller. | en_US |
| dc.description.sponsorship | This work was supported in part by The Scientific and Technological Research Council of Turkey via grant number 219M483. | en_US |
| dc.description.sponsorship | This work was supported in part by The Scientific and Technological Research Council of Turkey via grant number 219M483. | en_US |
| dc.identifier.doi | 10.1007/s40435-023-01164-y | |
| dc.identifier.issn | 2195-268X | |
| dc.identifier.issn | 2195-2698 | |
| dc.identifier.scopus | 2-s2.0-85153031240 | |
| dc.identifier.uri | https://doi.org/10.1007/s40435-023-01164-y | |
| dc.identifier.uri | https://hdl.handle.net/11147/14516 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springernature | en_US |
| dc.relation.ispartof | International Journal of Dynamics and Control | |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Simplified dynamic model | en_US |
| dc.subject | Computed torque method | en_US |
| dc.subject | Independent joint controller | en_US |
| dc.title | A Study on a Computationally Efficient Controller Design for a Surgical Robotic System | en_US |
| dc.type | Article | en_US |
| dspace.entity.type | Publication | |
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| gdc.coar.access | metadata only access | |
| gdc.coar.type | text::journal::journal article | |
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| gdc.description.department | Izmir Institute of Technology | en_US |
| gdc.description.departmenttemp | [Ayit, Orhan; Dede, Mehmet Ismet Can] Izmir Inst Technol, Dept Mech Engn, Izmir, Turkiye | en_US |
| gdc.description.endpage | 3187 | en_US |
| gdc.description.issue | 6 | en_US |
| gdc.description.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.startpage | 3176 | en_US |
| gdc.description.volume | 11 | en_US |
| gdc.description.wosquality | Q1 | |
| gdc.identifier.openalex | W4366123487 | |
| gdc.identifier.wos | WOS:001071034900002 | |
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