Abstract
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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Acknowledgments
This work was supported by a grant of the Ministry of Research, Innovation and Digitization, CNCS/CCCDI – UEFISCDI, project number PCE171/2021 - Challenge within PNCDI III, and project POCU/380/6/13/123927–ANTREDOC, “Entrepreneurial competencies and excellence research in doctoral and postdoctoral studies programs”, a project co-funded by the European Social Fund through the Human Capital Operational.
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Birlescu, I., Vaida, C., Pusca, A., Rus, G., Pisla, D. (2022). A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_19
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DOI: https://doi.org/10.1007/978-3-031-08140-8_19
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