منابع مشابه
On a Moving Base Robotic Manipulator Dynamics
There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...
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This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
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Medical science experts have reached scientific and technological improvements in recent ‎decades and have turned surgery into a routine treatment by controlling its complications. ‎Cumulative changes in surgery resulted in decreased pain and discomfort and controlled ‎complications. The developmental path and changes have resulted in endoscopic with minimal ‎invasive surgery (M...
متن کاملRobotic Partial Nephrectomy Using Robotic Bulldog Clamps
BACKGROUND AND OBJECTIVES The need for a skilled assistant to perform hilar clamping during robotic partial nephrectomy is a potential limitation of the technique. We describe our experience using robotic bulldog clamps applied by the console surgeon for hilar clamping. METHODS A total of 60 consecutive patients underwent robotic partial nephrectomy, 30 using laparoscopic bulldog clamps appli...
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One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...
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ژورنال
عنوان ژورنال: HPB
سال: 2018
ISSN: 1365-182X
DOI: 10.1016/j.hpb.2018.02.094