most citedA Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces

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cs.RO2020★ 18 cited

A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces

Hongbin Lin, C. W. Vincent Hui, Yan Wang +3

External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing…