Article

Hierarchical QP control and authority-guided recovery planning achieve high-precision RCM motion for ophthalmic robots

A study proposes a high-precision remote center of motion (RCM) servo architecture for ophthalmic robots, using a hierarchical QP controller and authority-guided recovery planning to address servo oscillation caused by conflicts between RCM and tip-tracking objectives. In a 200-scenario kinematic benchmark, the approach achieved a 100% reach rate for 128 near-singular targets and a 99% reach rate for 72 near-joint-limit targets, with software RCM residual below 0.142 mm.

Part of the event: Hierarchical QP Control and Recovery Planning Method Proposed for Ophthalmic Robot RCM

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