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
Topics & Concepts
PulleyCompensation (psychology)Control theory (sociology)Position (finance)EstimatorNonlinear systemTracking (education)RobotEngineeringControl engineeringComputer scienceSimulationControl (management)Artificial intelligenceMechanical engineeringMathematicsPhysicsPsychoanalysisStatisticsPedagogyFinanceQuantum mechanicsEconomicsPsychologySoft Robotics and ApplicationsTeleoperation and Haptic SystemsRobot Manipulation and Learning