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

• المؤلفون الرئيسيون: Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay, Do, T. N.
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: Conference or Workshop Item
• اللغة: English
• منشور في: 2013
• الموضوعات: DRNTU::Engineering::Mechanical engineering::Robots
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/98171; http://hdl.handle.net/10220/18245
• المؤسسة: 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...