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Keywords: gravity compensation
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Journal Articles
Journal:
Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. April 2025, 19(2): 021003.
Paper No: MED-24-1089
Published Online: December 11, 2024
...–slave isomorphic mapping method is used to design a master manipulator prototype. Kinematic and dynamic models of the master manipulator are established, and dynamic parameters and friction forces at each joint identified. Gravity compensation is applied to the master manipulator based on motor torque...
