Hysteresis Modeling and Compensation for Tendon-Sheath Mechanisms in Robot-Assisted Endoscopic Surgery Based on the Modified Bouc-Wen Model With Decoupled Model Parameters
Author:
Affiliation:
1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
Funder
National Natural Science Foundation of China
Royal Society
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Artificial Intelligence,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Biomedical Engineering
Link
http://xplorestaging.ieee.org/ielx7/8253409/10133907/10054090.pdf?arnumber=10054090
Reference41 articles.
1. Distal-end force prediction of tendon-sheath mechanisms for flexible endoscopic surgical robots using deep learning
2. Bouc–Wen model parameter identification for a MR fluid damper using computationally efficient GA
3. Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery
4. The Hysteresis Bouc-Wen Model, a Survey
5. High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation
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