We present an approach for operating unknown one-degree-of-freedom (DoF) mechanisms, using a compliant robot. The key aspect of our approach is that we make only little assumptions about the operated mechanism in terms of imposed kinematic constraints on the end-effector as well as dynamic properties, which can not always be neglected. The proposed system consists of: i) a constraint estimator ...

In this paper, we present a new method to select the optimal camera position for an active camera system from which camera pose (position and orientation) is modified according to the change of environment. We consider visibility and manipulability constraints to select the optimal position to monitor the target object and to modify the camera configurations during the task. Visibility constrai...

A higher order sliding fuzzy type-2 controller scheme for an nth order multi-input multi-output (MIMO) nonlinear uncertain perturbed systems is proposed in the paper. To overcome the constraint on the knowledge of the system model, local models related to some operating points were used to synthesize a nominal fuzzy type-2 global model. The controller uses integral sliding mode concept and cont...

For the semester project, we are aiming to develop an intuitive, haptic interface that will allow for improved control over a surgical manipulator designed for application in removal of osteolysis. Current surgical options for osteolysis removal require manual surgery that often leaves much of the lesion unexplored, and, thus, researchers at the Applied Physics Lab and Johns Hopkins University ...

Force controlled manipulation is a common technique for compliantly contacting and manipulating uncertain environments. Visual servoing is effective for reducing alignment uncertainties between objects using imprecisely calibrated camera-lens-manipulator systems. These two types of manipulator feedback, force and vision, represent complementary sensing modalities; visual feedback provides infor...

This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot – Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the prese...

Abstract In minimally invasive surgery, the primary surgeon requires an assistant to hold endoscope obtain visual information from body cavity. However, two-dimensional images acquired by endoscopy lack depth information. Future automatic robotic surgeries need three-dimensional of target area. This paper presents a method reconstruct 3D model soft tissues image sequences camera holder. this al...

Phase-Based Gain-Modulation (PBGM) control is realized by modulating controller gains in response to the phase of the system state or tracking error. PBGM controllers have been applied to robotic hands, parallel manipulators and flexible mechanisms to give increased damping, reduced tracking error and friction compensation. A novel method is presented to establish Lyapunov stability for PBGM co...