Research on modeling and compensation of generalized kinematic error of RCM manipulators for minimally invasive surgery robots
LIU Fen
WANG Rui
HUANG Fang
SANG Hongqiang
Abstract：[Objective]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 was proposed for the RCM manipulator of minimally invasive surgical robots.[Methods]Firstly,an error model characterizing the joint-dependent kinematic errors caused by geometric and non-geometric errors was established based on the Chebyshev polynomial.Then,the polynomial coefficients and kinematic parameter errors in the error model were identified by the least squares method.Finally,the joint space compensation method was employed to reduce the RCM constraint point position errors.[Results]The test results show that the RCM constraint point position errors after compensation are reduced from 2.726 1 mm to 0.641 5 mm,which is about 76.5%less.
Keywords：Remote center of motion manipulatorsError modelingParameter identificationChebyshev polynomial
Publication Date：2025-08-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 46-52 )