Towards AI-enhanced control: a numerical technique for trajectory smoothing of a parallel robot for pancreatic surgery

Abstract: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.

Robotics (cs.RO)

arXiv:2609.20499 [cs.RO]

(or arXiv:2609.20499v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.20499 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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