A Study on a Computationally Efficient Controller Design for a Surgical Robotic System
| dc.contributor.author | Ayit, Orhan | |
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.date.accessioned | 2023-07-27T19:51:13Z | |
| dc.date.available | 2023-07-27T19:51:13Z | |
| dc.date.issued | 2023 | |
| dc.description | Article; Early Access | en_US |
| 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. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature. | en_US |
| dc.description.sponsorship | This study was supported by a grant of 219M483 funded by The Scientific and Technological Research Council of Turkey (TÜBİTAK). The funders had no role in study design, data collection, analysis, and interpretation, or preparation of the manuscript. | en_US |
| dc.identifier.doi | 10.1007/s40435-023-01164-y | |
| dc.identifier.doi | 10.1007/s40435-023-01164 | |
| dc.identifier.issn | 2195-268X | |
| 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/11147/13662 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer | en_US |
| dc.relation.ispartof | International Journal of Dynamics and Control | en_US |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Computed torque method | en_US |
| dc.subject | Independent joint controller | en_US |
| dc.subject | Simplified dynamic model | en_US |
| dc.subject | Computational efficiency | 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 | |
| gdc.author.scopusid | 56028184400 | |
| gdc.author.scopusid | 55561029700 | |
| gdc.coar.access | metadata only access | |
| gdc.coar.type | text::journal::journal article | |
| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.wosquality | Q1 | |
| gdc.identifier.openalex | W4366123487 | |
| gdc.identifier.wos | WOS:001071034900002 | |
| gdc.index.type | WoS | |
| gdc.index.type | Scopus | |
| gdc.openalex.collaboration | National | |
| gdc.openalex.fwci | 0.47663415 | |
| gdc.openalex.normalizedpercentile | 0.55 | |
| gdc.opencitations.count | 0 | |
| gdc.scopus.citedcount | 4 | |
| gdc.wos.citedcount | 2 | |
| relation.isAuthorOfPublication.latestForDiscovery | 8fed21e3-9b48-4c81-8362-9e6b9ff553b8 | |
| relation.isOrgUnitOfPublication.latestForDiscovery | 9af2b05f-28ac-4022-8abe-a4dfe192da5e |
Files
Original bundle
1 - 1 of 1