LATIDIA · Robótica

Hacia un control mejorado por IA: una técnica numérica para suavizar la trayectoria de un robot paralelo para cirugía pancreática

arXiv:2609.20499v1 Tipo de anuncio: nuevo Resumen: El artículo presenta un enfoque numérico para el suavizado de la trayectoria del efector final de un robot paralelo diseñado para cirugía pancreática mínimamente invasiva. El enfoque es ta

La noticia

arXiv:2609.20499v1 Announce Type: new 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