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Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots

Robot KinematicsMotion ControlEngineeringMechanical ControlRobotic TechnologyMechanical EngineeringMechatronicsMechanical SystemsBiomechanicsActuationKinematicsHysteresisRoboticsNonlinear Friction ModellingCompensation ControlFriction ControlHysteresis Phenomena