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

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

Birlescu, Iosif / Vaida, Calin / Pusca, Alexandru / Rus, Gabriela / Pisla, Doina

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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Document information

Title :

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

Additional title:

Springer Proceedings in Advanced Robotics

Contributors:

Altuzarra, Oscar (editor) / Kecskeméthy, Andrés (editor) / Birlescu, Iosif (author) / Vaida, Calin (author) / Pusca, Alexandru (author) / Rus, Gabriela (author) / Pisla, Doina (author)

Conference:

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

Published in:

Advances in Robot Kinematics 2022 ; Chapter : 19 ; 171-178

Springer Proceedings in Advanced Robotics ; 24

Publication date :

2022-06-18

Size :

8 pages

ISBN :

978-3-031-08140-8 , 978-3-031-08139-2

ISSN :