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- W2377137249 abstract "According to the high precision and real-time requirement of minimally invasive surgery,the control mode of double closed loops based on photoelectric sensors and micromechanical gyroscopes was adopted to carry out the pose detection and fine control of minimally invasive surgical robot.Real-time deformation of joints detected by encoders and the grating scale was inputted to the motion control card.So the first feedback loop was created.Then the angular velocity detected by micromechanical gyroscopes was integrated in DSP,with the digital integration method based on quadratic interpolation.And the angular deformation was called by the host computer.Thus,the second feedback loop was built.Experiments verified that the detecting and control model of double closed loops was able to make up the deviation of motors and members efficiently.What's more,the great precision of the digital integration method was proved,and the maximum deviation didn't exceed 0.0172°,with the premise of the integration way,which met the real-time requirement.The exiguity action of the minimally invasive surgical robot could be ensured." @default.
- W2377137249 created "2016-06-24" @default.
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- W2377137249 date "2011-01-01" @default.
- W2377137249 modified "2023-09-24" @default.
- W2377137249 title "Pose detection and fine control of minimally invasive surgical robot based on MEMS" @default.
- W2377137249 hasPublicationYear "2011" @default.
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