IEEE/ASME Transactions on Mechatronics最新文献_第8页

High-Precision Hollow Triaxial Force Sensor for Cannulation in Minimally Invasive Surgery 用于微创手术插管的高精度空心三轴力传感器

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-20 DOI: 10.1109/TMECH.2026.3659890

Weiquan Deng;Chongyang Wang;Dingjia Li;Yongming Yang;Wenpeng Gao;Yili Fu;Jie Li;Hao Liu

{"title":"High-Precision Hollow Triaxial Force Sensor for Cannulation in Minimally Invasive Surgery","authors":"Weiquan Deng;Chongyang Wang;Dingjia Li;Yongming Yang;Wenpeng Gao;Yili Fu;Jie Li;Hao Liu","doi":"10.1109/TMECH.2026.3659890","DOIUrl":"10.1109/TMECH.2026.3659890","url":null,"abstract":"Cannulation is a common procedure in minimally invasive surgery. Force sensing during this procedure is essential for its safety and effectiveness. Achieving high-precision force sensing remains challenging due to the dimensional constraints of catheters and the need for hollow channels. This study presents a hollow triaxial force sensor based on fiber Bragg gratings, featuring a double-layer beam configuration that achieves both compact size and balanced stiffness. We develop an evolutionary design process of the sensor using the Freedom and Constraint Topology method. We also establish a mechanical model of the sensor, and optimize structural parameters through the condition number of the mapping matrix to suppress error amplification. In addition, we propose an improved tree Parzen estimator optimized random forest algorithm, integrated with temperature compensation, to enhance the precision of triaxial force sensing. The sensor achieves root mean square errors of 0.0214 and 0.0225 N for radial force components <inline-formula><tex-math>$F_{x}$</tex-math></inline-formula> and <inline-formula><tex-math>$F_{y}$</tex-math></inline-formula> with measurement ranges of <inline-formula><tex-math>$pm$</tex-math></inline-formula> 2N, and 0.0170N for axial force component <inline-formula><tex-math>$F_{z}$</tex-math></inline-formula> with measurement range of 0–2N. An ex vivo tissue experiment validates that the sensor effectively detects dynamic force variations and facilitates compliant operation with surgical instruments in a porcine duodenal papilla.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5424-5435"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning Globally Stable Neural Imitation Policies via Reshaped Energy Functions 基于重构能量函数的全局稳定神经模仿策略学习

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-04 DOI: 10.1109/TMECH.2026.3665234

Haohui Huang;Wenxu Zheng;Junda Duan;Kailun Huang;Jing Guo;Chenguang Yang

引用次数: 0

BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic, and Dynamical Movement Primitives 结合行为树、时间逻辑和动态运动原语的新型机器人TAMP框架

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-04 DOI: 10.1109/TMECH.2026.3665687

Zezhi Liu;Shizhen Wu;Hanqian Luo;Deyun Qin;Yongchun Fang

{"title":"BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic, and Dynamical Movement Primitives","authors":"Zezhi Liu;Shizhen Wu;Hanqian Luo;Deyun Qin;Yongchun Fang","doi":"10.1109/TMECH.2026.3665687","DOIUrl":"10.1109/TMECH.2026.3665687","url":null,"abstract":"In the field of learning from demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned skills to new environments with different task and motion requirements, especially in long-horizon, multistage scenarios with intricate constraints. This article proposes a novel hierarchical framework, called BT-TL-DMPs, that integrates behavior tree (BT), temporal logic (TL), and dynamical movement primitives (DMPs) to address this problem. Within this framework, signal temporal logic (STL) is employed to formally specify complex, long-horizon task requirements and constraints. These STL specifications are systematically transformed to generate reactive and modular BTs for high-level decision-making task structure. An STL-constrained DMP optimization method is proposed to optimize the DMP forcing term, allowing the learned motion primitives to adapt flexibly while satisfying intricate spatiotemporal requirements and, crucially, preserving the essential dynamics learned from demonstrations. The framework is validated through simulations demonstrating generalization capabilities under various STL constraints and real-world experiments on several long-horizon robotic manipulation tasks, where it significantly improves the success rate from 0.25 to 0.85, compared with the baseline. The results demonstrate that the proposed framework effectively bridges the symbolic-motion gap, enabling more reliable and generalizable autonomous manipulation for complex robotic tasks.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5722-5733"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147361018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CIBVS: Continuous Image-Based Visual Servoing Against Visual Signal Loss CIBVS：针对视觉信号丢失的连续图像视觉伺服

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-02 DOI: 10.1109/TMECH.2026.3657797

Rui He;Yuan Xuan;Hongkang Cui;Peng Li;Haoyao Chen

{"title":"CIBVS: Continuous Image-Based Visual Servoing Against Visual Signal Loss","authors":"Rui He;Yuan Xuan;Hongkang Cui;Peng Li;Haoyao Chen","doi":"10.1109/TMECH.2026.3657797","DOIUrl":"10.1109/TMECH.2026.3657797","url":null,"abstract":"Image-based visual servoing guides a robotic system to its desired place through ongoing feedback from visual signals. However, interference such as object occlusion and camera drift may cause visual signal loss, ultimately leading to servo failure. This article proposes a novel continuous image-based visual servoing (CIBVS) approach to address the potential visual signal loss. A geometric relationship is established between the positions of natural features and servo features. In each iteration, natural features are coarsely matched between frames, and mismatched pairs are eliminated by the proposed refining score based on the geometric relationship. When visual signal loss occurs, CIBVS leverages the natural features and the geometric relationship to estimate the lost servo features through optimization, ensuring continuous and stable visual feedback generation. In simulation, CIBVS was evaluated across three scenarios and 750 test cases, achieving an enhanced success rate and estimation accuracy. In the real world, CIBVS was integrated into various robotic systems, including manipulators, drones, and ground vehicles, to achieve multiple tasks. Experimental results demonstrated that, in scenarios with visual signal loss, CIBVS achieved significant improvements over extended-Kalman-filter-based IBVS and visual-odometry-based IBVS in servoing success rate, estimation accuracy, and convergence speed.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5674-5685"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147351038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive Painting Strategy Generation for Embodied Robotic Painting via LLM-Based AI Agents 基于llm的人工智能代理的具身机器人自适应绘画策略生成

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-09-16 DOI: 10.1109/TMECH.2026.3724257

Yong Dou;Chao Guo;Ziyan Tan;Wenda Xie;Yue Lu;Qinghua Ni;Yisheng Lv

{"title":"Adaptive Painting Strategy Generation for Embodied Robotic Painting via LLM-Based AI Agents","authors":"Yong Dou;Chao Guo;Ziyan Tan;Wenda Xie;Yue Lu;Qinghua Ni;Yisheng Lv","doi":"10.1109/TMECH.2026.3724257","DOIUrl":"10.1109/TMECH.2026.3724257","url":null,"abstract":"The rapid development of AI technology has greatly advanced the generation of creative content. Robotic painting aims to simulate and learn the human creative process by generating brushstroke sequences and the embodied robot’s motion trajectories, progressively completing the painting process and producing physical artworks. However, existing methods typically produce a fixed brushstroke strategy or use predefined stroke characteristics to generate painting trajectories in a coarse-to-fine hierarchical manner. These methods struggle to adaptively select painting techniques and brushstroke styles for different painting content and local regions, leading to a significant gap between the generated paintings and human artwork. To this end, we propose an adaptive embodied robotic painting strategy generation method using LLM-based AI agents. We construct AI agents using LLMs for task reasoning, which then call professional painting models and tools to adaptively select different painting strategies for various contents and regions. The agents autonomously complete demand analysis, multistage painting plan development, brushstroke sequence generation, and evaluate and modify the painting plan through computational experiments, ultimately prescribing the embodied robot to adopt differentiated techniques and brushstroke features to complete the entire painting process. Experimental results show that our method exhibits stronger strategy flexibility and higher quality in diverse painting scenarios, generating more natural and human-like artwork compared to existing methods with fixed strategies.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5030-5041"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149009835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

AmphiHip Exo: A Cable-Driven Amphibious Hip Exoskeleton With Physics-Informed Intention Perception for Lower Limb Augmentation 两栖外骨骼：一种缆索驱动的两栖髋关节外骨骼，具有物理知情的意图感知，用于下肢增强

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-26 DOI: 10.1109/TMECH.2026.3659510

Longwen Chen;Xieyuanli Chen;Junpeng Xu;Fangge Cui;Ke Gui;Chuang Cheng;Huimin Lu

{"title":"AmphiHip Exo: A Cable-Driven Amphibious Hip Exoskeleton With Physics-Informed Intention Perception for Lower Limb Augmentation","authors":"Longwen Chen;Xieyuanli Chen;Junpeng Xu;Fangge Cui;Ke Gui;Chuang Cheng;Huimin Lu","doi":"10.1109/TMECH.2026.3659510","DOIUrl":"10.1109/TMECH.2026.3659510","url":null,"abstract":"Developing an amphibious hip powered exoskeleton (AHPE) for lower limb augment in amphibious environments is crucial, which is facing the challenges, such as mechanical design, effective human-exoskeleton interaction, and simulating scenarios, for performance validations. To tackle these issues, this work proposes a design of a cable-driven AHPE named AmphiHip Exo for the hip flexion/extension assisting. To achieve an effective human-exoskeleton interaction, a physics-informed neural network named PILaN is proposed to realize hip motion intention perception (HMIP)-based control of the AmphiHip Exo. Trained by a self-collected small-scale dataset containing hip states of human activities, the proposed PILaN can automatically proceed HMIP, including joint trajectory and velocity estimations, with real-time dynamics parameter estimations and the Lagrangian dynamics model. Prototype tests are conducted on various wearers under four designed task scenarios: daily handling, climbing stairs, underwater gait assistance, and water rescue, and the performances are validated according to our designed evaluation metrics: HMIP accuracy, power assisting effect (PAE), and mechanical reliability. Experimental results prove the accuracy and efficiency of PILaN, the PAE among different wearers and task scenarios, and the waterproof effect as well as battery endurance, demonstrating the feasibility of the designed AmphiHip Exo.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5502-5512"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Experimental Validation of Lane Centering Control and Dynamic Obstacle Avoidance for Uncrewed Autonomous Car 无人驾驶汽车车道定心控制与动态避障设计与实验验证

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-23 DOI: 10.1109/TMECH.2025.3650596

Hui Pang;Ruxuan Zuo;Lei Liu;Sitian Yang;Yana Pang;Tong Wang

{"title":"Design and Experimental Validation of Lane Centering Control and Dynamic Obstacle Avoidance for Uncrewed Autonomous Car","authors":"Hui Pang;Ruxuan Zuo;Lei Liu;Sitian Yang;Yana Pang;Tong Wang","doi":"10.1109/TMECH.2025.3650596","DOIUrl":"10.1109/TMECH.2025.3650596","url":null,"abstract":"Accurate lane centering control (LCC) and dynamic obstacle avoidance (DOA) play a vital role in guaranteeing the safety and stability performance of uncrewed autonomous cars (UAC) in unknown dynamic transportation environments. Conventional reinforcement learning algorithms used for the LCC and DOA of the UAC may suffer from defects, such as data insufficiency and training inefficiency. To this end, an innovative control algorithm that integrates dynamic information into a deep deterministic policy gradient (DDPG) controller, referred to as DI-DDPG for UAC, is proposed. First, a dynamic information-integrated feature extraction scheme is developed to enhance the training efficiency and convergence rate. Then, a custom self-decaying noise is incorporated into the actions output to improve the convergence rate of the algorithm. Moreover, a black frame image clipping technology is proposed to enhance the accuracy of action generation. Finally, comparative simulations are carried out in a Racetrack environment, and then field experiments are conducted to demonstrate the practical effectiveness of the proposed DI-DDPG controller.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5909-5921"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146042524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Ultrathin Synchronous Permanent Magnet Micromotor With 400 µm Outer Diameter for in-Body Health Applications 超薄同步永磁微电机，外径400微米，用于体内健康应用

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-27 DOI: 10.1109/TMECH.2026.3660600

Efren Diez-Jimenez;Ignacio Valiente-Blanco;Gabriel Villalba-Alumbreros;Miguel Fernandez-Munoz;Jesús del-Olmo-Anguix;Diego Lopez-Pascual;Santiago Cobreces;Alberto Bollero;Ester M. Palmero;Cristina M. Montero;Marcin Michałowski;Artur Chańko;Aiden Flanagan;Martin Fawdry;Alexander Kanitz;Jan-Philipp Wessels

{"title":"Ultrathin Synchronous Permanent Magnet Micromotor With 400 µm Outer Diameter for in-Body Health Applications","authors":"Efren Diez-Jimenez;Ignacio Valiente-Blanco;Gabriel Villalba-Alumbreros;Miguel Fernandez-Munoz;Jesús del-Olmo-Anguix;Diego Lopez-Pascual;Santiago Cobreces;Alberto Bollero;Ester M. Palmero;Cristina M. Montero;Marcin Michałowski;Artur Chańko;Aiden Flanagan;Martin Fawdry;Alexander Kanitz;Jan-Philipp Wessels","doi":"10.1109/TMECH.2026.3660600","DOIUrl":"10.1109/TMECH.2026.3660600","url":null,"abstract":"Micromotors can be used to build up complex microtools for health applications as for example steerable catheters or optical and ultrasonic imaging system. The thinner and smaller the micromotors are, the less invasive during the use or implantation. In this article, an ultrathin synchronous permanent magnet micromotor with 400 µm outer diameter and 800 µm length is presented. The main novelty of this article is the degree of miniaturization: this motor 2.5 thinner diameter and 15 times smaller volume than previous similar micromotor in the state of the art, while keeping high torque density. The micromotor demonstrated operation up to 27000 r/min, a torque density larger than 0.3 kN·m/m<sup>3</sup> (twice larger than closest miniaturized motor) and a power consumption of 3 mW. The motor has proven to be durable over time demonstrating a lifetime of more than 70 h. The micromotor is capable to withstand and rotate loads one order of magnitude larger that its own rotor weight. Its ultrathin diameter and its high torque density permits to foresee its use in minimally invasive microcatheter tools or implantable devices with less damage during insertion processes.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5965-5975"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

MEMS-Based Micromanipulation With Pseudoparallel Rotary Comb Drive Actuators and Sensors 基于mems的微操纵与伪平行旋转梳子驱动驱动器和传感器

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-19 DOI: 10.1109/TMECH.2026.3665110

Alessio Buzzin;Lorenzo Giannini;Antonio Francesco Stano;Nicola Pio Belfiore;Rita Asquini

{"title":"MEMS-Based Micromanipulation With Pseudoparallel Rotary Comb Drive Actuators and Sensors","authors":"Alessio Buzzin;Lorenzo Giannini;Antonio Francesco Stano;Nicola Pio Belfiore;Rita Asquini","doi":"10.1109/TMECH.2026.3665110","DOIUrl":"10.1109/TMECH.2026.3665110","url":null,"abstract":"This work presents a MEMS microgripping device integrated with cooperating actuators in a pseudoparallel configuration, as a novel method to address modern micro- and nanomanipulation applications. Pseudoparallel rotary comb drives, arranged in a newly conceived floating-centered layout, are proposed as a route to multifunctional, multioperation micromanipulators. The concept is demonstrated through a modular multilink device, in which functional units such as actuators and sensors can be added or removed without altering the main structural layout. The design is also easily scalable, as it exploits electrostatic actuation, more efficient at small scales, and is compatible with standard silicon-on-insulator MEMS processes. To validate the concept, a prototype was fabricated and tested across multiple scenarios, accompanied by numerical simulations on a digital twin. Results highlight improved actuation and sensing capabilities compared to previous architectures. Pseudoparallel modules increased tip motion up to 14.4% and force exertion up to 30.5% relative to the non-parallel configurations without altering the four-bar kinematics, while adding actuation functionalities and enabling simultaneous motion and force feedback, with achieved sensitivities of 6.26 fF/<inline-formula><tex-math>$upmu$</tex-math></inline-formula>m and 12.44 fF/<inline-formula><tex-math>$upmu$</tex-math></inline-formula>N, respectively. The system demonstrates compactness, versatility, and modularity, making it promising for applications in micro/nanosurgery, biological manipulation, and robotic microassembly.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5842-5853"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11447338","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147489387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling and Calibration of Posture-Dependent Denavit-Hartenberg Errors and Angular Positioning Deviations of a Six-Axis Robotic Manipulator 六轴机器人姿态相关Denavit-Hartenberg误差和角定位偏差建模与标定

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-16 DOI: 10.1109/TMECH.2026.3656678

Tianhao Cui;Soichi Ibaraki

{"title":"Modeling and Calibration of Posture-Dependent Denavit-Hartenberg Errors and Angular Positioning Deviations of a Six-Axis Robotic Manipulator","authors":"Tianhao Cui;Soichi Ibaraki","doi":"10.1109/TMECH.2026.3656678","DOIUrl":"10.1109/TMECH.2026.3656678","url":null,"abstract":"Prediction accuracy of a kinematic model is critical for offline compensation of volumetric errors of a six-axis robotic manipulator. Numerous scholars have employed kinematic models incorporating Denavit-Hartenberg (D-H) errors for offline compensation, and some have studied their enhancements by integrating stiffness parameters of rotary axes. However, previous works primarily focused on predicting deviations resulting from posture changes within the rotary plane. This article proposes a novel modeling scheme capable of capturing deviations both within and outside the rotary plane. A key idea is that, instead of explicitly measuring the 6 DOF stiffness parameters, the end effector trajectory is measured to quantify the position and orientation of the rotary axis average line, varied due to the posture of downstream axes, which are parameterized as posture-dependent D-H errors and posture-dependent angular positioning deviations. Measurement for the calibration of posture-dependent errors can be completed within one hour. A case study shows that the proposed posture-dependent kinematic model can significantly improve the prediction accuracy by over 36%, highlighting the importance of including posture-dependent errors.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5943-5953"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146205037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0