Home /Research /Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

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Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

Zhengyu Wang, Guangming Liu, Sen Qian, Daoming Wang, Xun Wei, Xiang Yu

Year: 2023
Citations: 31

Keywords

PulleyCompensation (psychology)Control theory (sociology)Position (finance)EstimatorNonlinear systemTracking (education)RobotEngineeringControl engineering

Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

Keywords

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