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Showing 1 to 1 of 1 for “"accelerometer; control; gravity compensation; RAVEN; surgical robotics"”.
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Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot
Using an accelerometer on the base of a robot, it is possible to calculate the torque required from each actuator in order to maintain a known pose regardless of base orientation with respect to the direction or magnitude of gravity. A simple and novel method has been developed and implemented for …