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This paper presents a novel framework for analyzing the mobility of constrained serial manipulators. We focus on the type of constraints that arise in minimally invasive surgery, where a long shaft is inserted into the human body through a incision point, or trocar. The trocar constraint will in this case change the mobility of the manipulator and the location and nature of the singularities. For...
This paper presents a new set of approaches for teleoperation of remotely operated vehicles (ROVs), or autonomous underwater vehicles (AUVs) with on-board cameras. We address the control allocation problem for underwater vehicles, i.e., how to best distribute the control forces so that the robot behaves as intuitively as possible based on the operator's commands. This calls for intelligent control...
This paper presents a new performance metric for serial manipulators with velocity constraints on the chain. These systems arise in several different applications such as serial manipulators in the presence of obstacles and in robotics-assisted minimally invasive surgery. It is important to know how constraints on the chain affect the mobility of the end effector and we therefore present a reformulation...
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