IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms with Nonlinear Disturbance Forces

Author(s): Hongbin Lin ; Chiu-Wai Hui ; Yan Wang ; Anton Deguet ; Peter Kazanzides ; K. W. Samuel Au
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2927953
Regular:

External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing gravity... View More

Advertisement