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Towards AI-enhanced control: a numerical technique for trajectory smoothing of a parallel robot for pancreatic surgery

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

The paper presents a numerical approach for the end-effector trajectory smoothing of a parallel robot designed for minimally invasive pancreatic surgery. The approach is tailored for real-time master-slave control architecture and uses a 3D space mouse for command input for velocity control. The trajectory smoothing is achieved by generating S-curves in the end-effector velocity fields, thus controlling the accelerations, which in turn reduces tissue trauma in the minimally invasive procedures. Real-time control is enabled by segmenting the S-curves based on the command inputs from the 3D spac

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