@inproceedings{63e0aca214fa450794f6937bcf6f8802,
title = "Research gravity compensation for master manipulator with time delay",
abstract = "A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90\% of the external force compared with the lack of gravity compensation.",
keywords = "Gravity compensation, Master manipulator, Static balancing, Time delay",
author = "Wang, \{Hong Min\} and Du, \{Zhi Jiang\} and Zhao, \{Zhi Kai\} and Liu, \{Rong Qiang\}",
year = "2014",
doi = "10.4028/www.scientific.net/AMM.496-500.1413",
language = "英语",
isbn = "9783037859926",
series = "Applied Mechanics and Materials",
pages = "1413--1416",
booktitle = "Frontiers of Manufacturing and Design Science IV",
note = "4th International Conference on Frontiers of Manufacturing and Design Science, ICFMD 2013 ; Conference date: 10-09-2013 Through 12-09-2013",
}