Neural Network based Inverse Dynamics Identification and External Force Estimation on the da Vinci Research Kit
Nural Yilmaz,Jie Ying Wu,Peter Kazanzides,Ugur Tumerdem,Nural Yilmaz,Jie Ying Wu,Peter Kazanzides,Ugur Tumerdem
Most current surgical robotic systems lack the ability to sense tool/tissue interaction forces, which motivates research in methods to estimate these forces from other available measurements, primarily joint torques. These methods require the internal joint torques, due to the robot inverse dynamics, to be subtracted from the measured joint torques. This paper presents the use of neural networks t...
