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INSTRUMENT DRIVE UNIT TORQUE COMPENSATION USING INERTIAL MEASUREMENT UNIT
INSTRUMENT DRIVE UNIT TORQUE COMPENSATION USING INERTIAL MEASUREMENT UNIT
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机译:惯性测量单元对仪器驱动单元的扭矩补偿
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摘要
An instrument drive unit includes a housing defining a central longitudinal axis; an inertial measurement unit disposed within the housing and configured to determine a pose of the instrument drive unit; and a controller disposed within the housing, the controller configured to receive the pose of the instrument drive unit from the inertial measurement unit and to generate a corrected output signal which compensates for the pose of the instrument drive unit.
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