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The number of unknown parameters in a high degree-of-freedom (DOF) robot makes traditional identification techniques difficult to implement. A non-conventional system identification method is proposed to model the Freedom 6S, a force feedback hand controller with 6 DOF. Compared to industrial robots, haptic devices are back-drivable, and they are characterized by relatively large forces and low friction...
Mobile platform tip-over problems can be very dangerous to humans and environment. Once the tipping event starts, strategies must be taken to stop further tipping over before the system collapses. As the platforms are forced to turn back over an edge to reverse tipping, it collides with the ground and it is important to predict the subsequent contact events. This paper presents an approach based on...
There has been some interest in recent years on how information about interactions happening between surgical instruments and tissue during robot-assisted surgery could improve the efficiency and reliability of a surgical task. In this paper, it is hypothesized that various modes of sensory feedback have the potential to enhance performance in robot-assisted surgery in terms of the amount of applied...
This paper presents a unified control-oriented modeling of a free-flying space robot interacting with a target satellite. The purpose of the modeling is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites,...
This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assisted minimally invasive surgery. A complete teleoperated minimally invasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled...
Neurosurgery can take significant advantages from the introduction of computer and robot technologies. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability make them ideal neurosurgeons' assistants. This paper presents a master-slave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic...
A robotic excavator must be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment. A position accommodation control scheme is ideally suited for this task. The position accommodation method described in this study uses a position controller to track a pre-defined trajectory in the absence of a force at the excavator bucket. If...
The goal of this paper is to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy and a way to handle lost packets that allow power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets
In this paper the optimal nonlinear predictive control structure with integral action is presented, which provides asymptotic tracking of smooth reference trajectories and robustness to parameters uncertainties. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to...
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