1. A cable-pulley system modeling based position compensation control for a laparoscope surgical robot. (December 2017) Authors: Xue, Renfeng; Ren, Bingyin; Yan, Zhiyuan; Du, Zhijiang Journal: Mechanism and machine theory Issue: Volume 118(2017:Dec.) Page Start: 283 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗