Abstract
Strain gauges attached to the driving pulleys of the instrument of surgical robots allow estimation of the torque between the instrument and environment. Friction in the torque transmission, however, deteriorates accuracy of the estimation. This paper proposes a method to reduce the estimation error using a friction model and Butterworth low-pass filter. The friction model is developed based on Dahl model and reflects the characteristics of the particular driving mechanism. Experimental results show that the relative error can be reduced to 3.49 % in case of a sine wave motion.
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