Comparison of error modeling between inverse kinematics and product of exponentials methods  for a 5-DOF hybrid perfusion manipulator

Yang, Hui; Bai, Long; Jiang, Zhouxiang; Li, Xiangyun; Long, Zhongjie

doi:10.5194/ms-17-575-2026

Articles | Volume 17, issue 1

https://doi.org/10.5194/ms-17-575-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/ms-17-575-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 17, issue 1

Research article

|

26 May 2026

Research article |

| 26 May 2026

Comparison of error modeling between inverse kinematics and product of exponentials methods for a 5-DOF hybrid perfusion manipulator

Hui Yang, Long Bai, Zhouxiang Jiang, Xiangyun Li, and Zhongjie Long

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Sep 2026	26	15	0	41

Latest update: 11 Sep 2026

Short summary

The error model of the 5-degree-of-freedom hybrid perfusion manipulator established by the product of exponentials formula is more comprehensive and effective. Compared with the traditional inverse kinematic method, the mean pose errors of the moving platform after kinematic calibration based on the product of the exponentials method are reduced by 89.04 % and 63.79 %, respectively. The proposed modeling method is applicable to error modeling and analysis of most parallel mechanisms.