The phrase "adjustment motion" is correct and usable in written English.
It can be used in contexts related to legal proceedings, mechanical adjustments, or any situation where a change or modification is being proposed or requested.
Example: "The attorney filed an adjustment motion to modify the terms of the custody agreement."
Alternatives: "modification request" or "change motion".
Therefore, the posture adjustment motion in order to adjust the forceps axis to the direction of the trocar carries out motion in only the 4th and 5th axes.
Furthermore, the transition mode between the non-trocar mode and trocar mode consists of 2 types of motion modes as follows: The posture adjustment motion is the motion to adjust the forceps axis to the direction of the trocar from any position and posture outside the patient's abdominal cavity.
Especially, the posture adjustment motion, which is the motion to adjust the forceps axis to the direction of the trocar from any position and posture outside the patient's abdominal cavity, is achieved by movement only in the 4th and 5th axes of the slave arm.
The posture adjustment motion is chosen from the following 4 types of proposed methods in order to enable effective posture adjustment motion under any operation conditions.
Figure 9 Forceps tip trajectories of insert motions (Comparison of posture adjustment motion methods).
The details of the posture adjustment motion are described in the next section.
After the posture adjustment motions, the dummy forceps began the insert motion from same point and passed through the trocar.
Figure 10 shows the posture adjustment motions by point-to-point motion using the 4th and 5th axes beginning from 3 different positions.
After the posture adjustment motions from 3 different starting positions, the dummy forceps began the insert motion and passed through the trocar, and the master slave motions were achieved by the master arm.
Figure 9 shows 3 types of posture adjustment motions by point-to-point, jog, and direct teach motions using the 4th and 5th axes from the same start positions.
In this paper we present a new method for the prediction and adjustment of motion parameters to the current measurements using the quaternion representation for the orientation and the Gauss-Newton iteration on the unit sphere S3.
