Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots

Published 2015 View Full Article

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Title
Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots
Authors
Keywords
Tendon-sheath, Dynamic friction, Hysteresis, Identification, Control, Haptic feedback
Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 60-61, Issue -, Pages 770-784
Publisher
Elsevier BV
Online
2015-02-20
DOI
10.1016/j.ymssp.2015.01.001

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