The paper presents a mathematical model for the forward kinematics of an orientation platform integrated within a robotic system for Single Incision Laparoscopic Surgery (SILS). The authors propose the use of perturbation theory as a method for solving the mechanism. The approximation accuracy is assessed for several active joints value ranges, being compared with Newton-Raphson (NR) method and Maple solver validating this new approach.


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    Titel :

    A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Birlescu, Iosif (Autor:in) / Vaida, Calin (Autor:in) / Pusca, Alexandru (Autor:in) / Rus, Gabriela (Autor:in) / Pisla, Doina (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    18.06.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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