Robotic system and method for backdriving the same
作者： Nicholas Jon Post
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摘要: A robotic surgical systems and methods of operating the same are provided. The system comprises a tool, manipulator having plurality joints supporting controller. virtual simulation represents tool as rigid body mass including an inertia about at least one joints. controller determines expected joint torque for joint. is compared to actual determine difference. determined. An angular acceleration computed using difference inertia. projected external force. simulates dynamics in response
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