Open AccessInverse solution of slave hand for single-port laparoscopic surgery robot based on hybrid Particle Swarm Optimization
Author(s) -
Sang-Ok Han,
Chuanjiang Wang,
Zhixi Tian,
Bin Fan
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1693/1/012205
Subject(s) - inverse kinematics , particle swarm optimization , kinematics , robot , inverse , robot kinematics , port (circuit theory) , computer science , control theory (sociology) , mathematical optimization , mathematics , artificial intelligence , engineering , mobile robot , physics , mechanical engineering , classical mechanics , geometry , control (management)
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.