Research on Modeling and Compensation of Generalized Kinematic Error of RCM Manipulators for Minimally Invasive Surgery Robots

Research on Modeling and Compensation of Generalized Kinematic Error of RCM Manipulators for Minimally Invasive Surgery Robots

There 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 is proposed for the RCM manipulator of minimally invas...

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Bibliographic Details
Main Authors: Liu Fen, Wang Rui, Huang Fang, Sang Hongqiang
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2024-01-01
Series:Jixie chuandong
Subjects:
Remote center of motion manipulators
Error modeling
Parameter identification
Chebyshev polynomial
Online Access:http://www.jxcd.net.cn/thesisDetails?columnId=61338798&Fpath=home&index=0
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