![Gravity compensation principle [52] | Download Scientific Diagram](https://www.researchgate.net/profile/Guangbo-Hao-2/publication/299533478/figure/fig4/AS:600753248931844@1520242144530/Gravity-compensation-principle-52.png)
%20the%20study%20aimed%20to%20fortify%20the%20precision%20and%20stability%20of%20the%20robots%20movements%20essential%20for%20intricate%20surgical%20procedures.%20Through%20rigorous%20parameter%20identification%20and%20the%20Euler%20Lagrange%20approach%20the%20team%20successfully%20derived%20the%20necessary%20torque%20equations%20and%20established%20a%20robust%20mathematical%20model.%20Implementation%20of%20the%20actual%20robot%20and%20simulation%20in%20Gazebo%20highlighted%20the%20efficacy%20of%20the%20developed%20control%20strategies%20facilitating%20accurate%20positioning%20and%20minimizing%20drift.%20Additionally%2C%20the%20project%20extended%20its%20contributions%20by%20constructing%20a%20comprehensive%20model%20for%20the%20patient%20side%20manipulator%20laying%20the%20groundwork%20for%20future%20research%20endeavors.%20This%20work%20signifies%20a%20significant%20advancement%20in%20the%20pursuit%20of%20enhanced%20precision%20and%20user%20control%20in%20robotic%20assisted%20surgeries.%0A%20%20NOTE%20-%20This%20work%20has%20been%20submitted%20to%20the%20IEEE%20for%20publication.%20Copyright%20may%20be%20transferred%20without%20notice%2C%20after%20which%20this%20version%20may%20no%20longer%20be%20accessible.%20Copyright%20on%20this%20article%20is%20reserved%20by%20IEEE)
![Different master–slave controllers (a) Master–slave control [30], (b ...](https://www.researchgate.net/publication/342100004/figure/fig9/AS:1152003686309928@1651670490454/Different-master-slave-controllers-a-Master-slave-control-30-b-Master-slave.png)
![The control structure of the master-slave control [33]. | Download ...](https://www.researchgate.net/publication/365449501/figure/fig2/AS:11431281097762562@1668696239565/The-control-structure-of-the-master-slave-control-33.png)
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