提出用于胰腺手术的新型模块化并联机器人及高阶运动学分析方法。
An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
- 采用向量、齐次变换矩阵和对偶四元数三种形式推导运动学模型。
- 多对偶代数算法在执行时间上显著优于传统方法，数值稳定性良好。
- 适合机器人控制、医疗手术系统研发人员参考，尤其关注高效算法设计。
本文提出一种面向胰腺手术的新型模块化混合式并联机器人及其高阶运动学分析。研究了经典向量法、齐次变换矩阵法和对偶四元数法在经典微分与多对偶代数框架下的运动学函数推导，并针对三种形式分别给出了逆运动学求解算法。进一步通过数值稳定性、执行时间及数学运算复杂度进行对比分析。统计结果显示，基于多对偶代数实现的算法在执行时间上具有显著优势，而所有基于微分与多对偶代数的算法均具备良好的数值稳定性。尽管在标准PC上测试表现优异，仍需在实际机器人控制系统软硬件平台上进一步验证多对偶算法的性能。
原文摘要 · Abstract (English)
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches are studied for the kinematic functions using both classical differentiation and multidual algebra. The algorithms for inverse kinematics for all three studied formalisms are presented for both differentiation and multidual algebra approaches. Furthermore, these algorithms are compared based on numerical stability, execution times and number and type of mathematical functions and operators contained in each algorithm. A statistical analysis shows that there is significant improvement in execution time for the algorithms implemented using multidual algebra, while the numerical stability is appropriate for all algorithms derived based on differentiation and multidual algebra. While the implementation of the kinematic algorithms using multidual algebra shows positive results when benchmarked on a standard PC, further work is required to evaluate the multidual algorithms on hardware/software used for the modular parallel robot command and control.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。