Estimation of Reaction Torque and Compensation for Elongation of Wire for Wire Actuated Robotic Forceps

Abstract When a load is added to the tip of a wire actuated robotic forceps, tracking accuracy of the forceps is degraded due to the elastic elongation of the wire. In this paper, for the wire actuated robotic forceps, a new algorithm that can estimate a reaction torque and an amount of elongation of the wire, is proposed. By compensating for amount of elongation of the wire, track ability of the forceps is improved. The effectiveness of the proposed algorithm was verified through simulation and experimental works.

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