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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/x59ior50x9khaphqabldtjs0c
- Original: https://arxiv.org/abs/2610.27905

## Summary

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.