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This paper proposes a sensorless force estimation method for the end effector tip of a surgical robot instrument. Due to various size and safety constraints related to the surgical robot instrument, it is difficult to measure the reaction force at the instrument tip. This paper presents a method of estimating the reaction force of the surgical robot instrument without sensors and attempts to use state...
Minimally invasive surgery (MIS) robot is made like a long cylinder with small diameter that can fit through a small incision thus decreasing the amount of healthy tissue damaged. Because of the shape of the surgical robot, the cable-driven mechanism is using to the robot. However this is a highly nonlinear system so the performance of the system is not so good. This paper applied a robust motion...
This paper proposes a new robust motion control algorithm. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is to design a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer...
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