A novel position estimator for rope driven micromanipulator of surgical robot.

A novel position estimator is proposed to address the issue of position detection for micromanipulator in surgical robots. Firstly, the single joint micromanipulator experimental prototype proposed in the paper is built based on the real micromanipulator. To identify the parameters of the position estimator dynamics model, we enhance the Honey Badger Algorithm (HBA) and utilize Improved Honey Badger Algorithm (IHBA). With global parameters, the maximum absolute estimation error of the position estimator is only 1.10 deg. To further enhance position estimation accuracy, this paper introduces an online updating parameters model and integrates it with IHBA to achieve online updating parameters. The high-precision estimation of position estimator proposed in this paper is obtained. The experiments demonstrate the effective of the position estimator with maximum absolute estimation error is only 0.28 deg and the excellent robustness. • By incorporating the Lévy flight strategy and chaotic tent map, an improve HBA algorithm named IHBA is proposed. • An online updating parameters model is proposed and integrated with IHBA, significantly enhances the estimation accuracy of the position estimator. • A high-precision position estimator that accurately represents the performance of real micromanipulator is proposed. [ABSTRACT FROM AUTHOR]