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.
A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
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