Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots
ObjectiveThere is a safety issue for geometric and non-geometric errors that lead to remote center of motion (RCM) constraint point position errors during the movement of the RCM manipulator. A generalized kinematic error modeling and compensation method was proposed for the RCM manipulator of minim...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2025-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.08.006 |
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| _version_ | 1849331511877173248 |
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| author | LIU Fen WANG Rui HUANG Fang SANG Hongqiang |
| author_facet | LIU Fen WANG Rui HUANG Fang SANG Hongqiang |
| author_sort | LIU Fen |
| collection | DOAJ |
| description | ObjectiveThere is a safety issue for geometric and non-geometric errors that lead to remote center of motion (RCM) constraint point position errors during the movement of the RCM manipulator. A generalized kinematic error modeling and compensation method was proposed for the RCM manipulator of minimally invasive surgical robots.MethodsFirstly, an error model characterizing the joint-dependent kinematic errors caused by geometric and non-geometric errors was established based on the Chebyshev polynomial. Then, the polynomial coefficients and kinematic parameter errors in the error model were identified by the least squares method. Finally, the joint space compensation method was employed to reduce the RCM constraint point position errors.ResultsThe test results show that the RCM constraint point position errors after compensation are reduced from 2.726 1 mm to 0.641 5 mm, which is about 76.5% less. |
| format | Article |
| id | doaj-art-ddd1c478562d4dadaf3fa110d1e7b930 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ddd1c478562d4dadaf3fa110d1e7b9302025-08-20T03:46:33ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-08-0149465261338798Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robotsLIU FenWANG RuiHUANG FangSANG HongqiangObjectiveThere is a safety issue for geometric and non-geometric errors that lead to remote center of motion (RCM) constraint point position errors during the movement of the RCM manipulator. A generalized kinematic error modeling and compensation method was proposed for the RCM manipulator of minimally invasive surgical robots.MethodsFirstly, an error model characterizing the joint-dependent kinematic errors caused by geometric and non-geometric errors was established based on the Chebyshev polynomial. Then, the polynomial coefficients and kinematic parameter errors in the error model were identified by the least squares method. Finally, the joint space compensation method was employed to reduce the RCM constraint point position errors.ResultsThe test results show that the RCM constraint point position errors after compensation are reduced from 2.726 1 mm to 0.641 5 mm, which is about 76.5% less.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.08.006Remote center of motion manipulatorsError modelingParameter identificationChebyshev polynomial |
| spellingShingle | LIU Fen WANG Rui HUANG Fang SANG Hongqiang Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots Jixie chuandong Remote center of motion manipulators Error modeling Parameter identification Chebyshev polynomial |
| title | Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots |
| title_full | Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots |
| title_fullStr | Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots |
| title_full_unstemmed | Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots |
| title_short | Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots |
| title_sort | research on modeling and compensation of generalized kinematic error of rcm manipulators for minimally invasive surgery robots |
| topic | Remote center of motion manipulators Error modeling Parameter identification Chebyshev polynomial |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.08.006 |
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