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
MECHANISM AND MACHINE THEORY（2023）
Key words
Surgical robots and systems,Cable -pulley -driven mechanism,Closed -loop tracking control,Position,force estimators,Non-linear hysteresis compensation
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