A hybrid learning-based hysteresis compensation strategy for surgical robots.
Journal:
The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date:
Jun 1, 2021
Abstract
BACKGROUND: The hysteretic forces arising from the electric cables that externally run along the robotic joints are the main disturbance to the precise parameter estimation of gravity compensation model, for the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK). Because such nonlinear disturbance forces and the gravitational forces are often hybrid and in the same magnitude.