发表机构
CESTER, Technical University of Cluj-Napoca; École Centrale Nantes, Nantes Université; CNRS; Technical Sciences Academy of Romania（克卢日-纳波卡技术大学CESTER; 南特中央理工学院，南特大学; 法国国家科学研究中心; 罗马尼亚技术科学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种数值方法，通过生成S曲线平滑并联机器人末端执行器轨迹，以减少胰腺微创手术中的组织创伤，并验证了实时控制下的稳定过渡。
AI 中文摘要
本文提出了一种数值方法，用于实现面向微创胰腺手术的并联机器人末端执行器轨迹平滑。该方法针对实时主从控制架构量身定制，并使用3D空间鼠标作为速度控制的命令输入。轨迹平滑通过在末端执行器速度场中生成S曲线来实现，从而控制加速度，进而减少微创手术中的组织创伤。通过基于3D空间鼠标的命令输入对S曲线进行分段，实现了实时控制。本文考虑了一种特殊情况，即所有命令输入的加速时间恒定。数值结果表明，在末端执行器参数空间和主动关节参数中均实现了稳定过渡（无突变），从而验证了所提方法的有效性。后续工作旨在将所提方法在实验模型上进行测试，并将其集成到基于人工智能的训练模块中。
英文摘要
The paper presents a numerical approach for the end-effector trajectory smoothing of a parallel robot designed for minimally invasive pancreatic surgery. The approach is tailored for real-time master-slave control architecture and uses a 3D space mouse for command input for velocity control. The trajectory smoothing is achieved by generating S-curves in the end-effector velocity fields, thus controlling the accelerations, which in turn reduces tissue trauma in the minimally invasive procedures. Real-time control is enabled by segmenting the S-curves based on the command inputs from the 3D space mouse. A special case is considered where the acceleration time is constant for all command inputs. Numeric results demonstrate stable transitions (without abrupt changes) in both the end-effector parameter space and in the active joints parameters, thereby validating the proposed approach. Further work aims to test the approach on an experimental model and integrate it into AI-based training modules.
Journal ref8th International Workshop on Computational Kinematics, Nov 2025, Madras (Chennai), India
