Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li
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引用次数: 3
Abstract
This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.
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