{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T14:29:10Z","timestamp":1770906550679,"version":"3.50.1"},"reference-count":21,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2022,2,7]],"date-time":"2022-02-07T00:00:00Z","timestamp":1644192000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,6,30]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This study aims to represent a novel closed-form solutions method based on the product of the exponential model to solve the inverse kinematics of a robotic manipulator. In addition, this method is applied to master\u2013slave control of the minimally invasive surgical (MIS) robot.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>For MIS robotic inverse kinematics, the closed-form solutions based on the product of the exponential model of manipulators are divided into the RRR and RRT subproblems. Geometric and algebraic constraints are used as preconditions to solve two subproblems. In addition, several important coordinate systems are established on the surgical robot and master\u2013slave mapping strategies are illustrated in detail. Finally, the MIS robot can realize master\u2013slave control by combining closed-form solutions and master\u2013slave mapping strategy.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The simulation of the instrument manipulator based on the RRR and RRT subproblems is executed to verify the correctness of the proposed closed-form solutions. The fact that the accuracy of the closed-form solutions is better than that of the compensation method is validated by the contrastive linear trajectory experiment, and the average and the maximum tracking errors are 0.1388\u2009mm and 0.3047\u2009mm, respectively. In the animal experiment, the average and maximum tracking error of the left instrument manipulator are 0.2192\u2009mm and 0.4987\u2009mm, whereas the average and maximum tracking error of the right instrument manipulator are 0.1885\u2009mm and 0.6933\u2009mm. The successful completion of the animal experiment comprehensively demonstrated the feasibility and reliability of the master\u2013slave control strategy based on the novel closed-form solutions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The proposed closed-form solutions are error-free in theory. The master\u2013slave control strategy is not affected by calculation error when the closed-form solutions are used in the surgical robot. And the accuracy and reliability of the master\u2013slave control strategy are greatly improved.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-10-2021-0244","type":"journal-article","created":{"date-parts":[[2022,2,3]],"date-time":"2022-02-03T06:18:36Z","timestamp":1643869116000},"page":"934-946","source":"Crossref","is-referenced-by-count":3,"title":["A novel closed-form solutions method based on the product of exponential model for the minimally invasive surgical robot"],"prefix":"10.1108","volume":"49","author":[{"given":"Tao","family":"Song","sequence":"first","affiliation":[]},{"given":"Bo","family":"Pan","sequence":"additional","affiliation":[]},{"given":"Guojun","family":"Niu","sequence":"additional","affiliation":[]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2022,2,7]]},"reference":[{"key":"key2022062914055878000_ref001","unstructured":"Ai, Y. 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