Dynamic friction model for tendon-sheath actuated surgical robots : modelling and stability analysis

• Main Authors: Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay, Do, T. N.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/98171; http://hdl.handle.net/10220/18245
• Institution: Nanyang Technological University

This paper presents a novel dynamic friction model for flexible tendon-sheath mechanism in surgical robots. It allows for accurate modelling of both sliding and presliding regimes. Unlike existing approaches in the literature, the novel model employs not only velocity information but also accelerati...