Transorbital Neuroendoscopic Surgery (Tones) Trajectory Planning

Trajectory Planning

Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf. This trajectory must respect given constraints: for instance, the robot should not collide with the environment, the joint ang...

The Usefulness of Electromagnetic Neuronavigation in the Pediatric Neuroendoscopic Surgery

OBJECTIVE Neuroendoscopy is applied to various intracranial pathologic conditions. But this technique needs informations for the anatomy, critically. Neuronavigation makes the operation more safe, exact and lesser invasive procedures. But classical neuronavigation systems with rigid pinning fixations were difficult to apply to pediatric populations because of their thin and immature skull. Elec...

Optimal Trajectory Planning of a Box Transporter Mobile Robot

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Trajectory and Task Planning

Trajectory Planning in Robotics

Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications. The general problem of trajectory planning in Robotics is addres...