Event
Hierarchical QP Control and Recovery Planning Method Proposed for Ophthalmic Robot RCM
1 reports · 1 sources
Researchers including Huanyu Tian proposed a high-precision remote center of motion (RCM) servo architecture for ophthalmic robots, using a hierarchical QP controller plus authority-guided recovery planning to solve the servo oscillation problem caused by conflict between RCM constraints and end-effector tracking objectives. In a 200-scenario kinematic benchmark test, the scheme 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. On a real 6-DOF robotic arm, the scheme was executed across 4 RCM entry points, with a worst-case kinematic reconstruction RCM residual of 178 μm and a median end-effector regulation error of 32 μm, both within the 200 μm control requirement adopted for ophthalmic tasks.
Report timeline
- 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.
arXiv cs.RO ·