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Background
In a single‐port robotic system where the 3D endoscope possesses two bending segments, only point light sources can be integrated at the tip due to space limitations. However, point light sources usually provide non‐uniform illumination, causing the endoscopic images to appear bright in the centre and dark near the corners.
Methods
Based on the inverse square law for illuminance, an...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
In this paper, a method to improve the operating experience of master manipulator which is used to manipulate the slave manipulator is proposed. The general method to improve performance is compensating the gravity and friction of the manipulator. For the general method, not only the modeling of the gravity but also the identification of friction parameters imports errors. When the manipulator is...
In this paper, we built a Lagrange dynamical model for an interactive master manipulator based on Delta parallel mechanism. Genetic Algorithm was used to identify the static parameters in the LuGre friction model with regard to high non-linearity friction torque of the driving parts. The Stribeck curve relating rotational velocity with static friction torque for each driving part was obtained. To...
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