Inverse solution of slave hand for single-port laparoscopic surgery robot based on hybrid Particle Swarm Optimization. (December 2020)

• Record Type: Journal Article
• Authors: Han, Shu; Wang, Chuanjiang; Tian, Zhaohui; Fan, Binghui
• Is Part Of: Journal of physics. Volume 1693(2020)
• Publication Date: 2020-12
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1693/1/012205
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: Because of the particularity of the slave hand of the single hole laparoscopic surgery robot configuration, it cannot meet Pieper criterion, and its inverse kinematics solution cannot be obtained by traditional kinematics model. In order to solve the problems, the screw theory is used to establish the kinematics model for the slave hand of the single hole laparoscopic surgery robot. On this basis, the inverse kinematics is converted into a minimum solution problem. The optimal solution of each joint variable is obtained by using the hybrid particle swarm optimization (HPSO), and then the accuracy of pose matrix is analysed to verify the effectiveness of this method.