In robot-assisted teleoperated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators, operated by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback could enhance the surgical procedures by providing a palpable sense of the environment as a function of surgeon’s hands movemen...

This paper deals with control of parallel manipulators for very high acceleration tasks including two case studies. The first one is the case of non-redundant parallel manipulators, where we are interested in control of PAR2 robot for 2D pick-andplace trajectories following. The proposed control scheme in this case is a nonlinear dual mode adaptive controller complied with a high gain state obs...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.

This paper presents a systematic load identification procedure for a class of parallel robot manipulators. It is considered as a regular dynamic robot identification problem since the load is rigidly fixed on the robot-platform. The challenge is that the estimation must be based only on the measurements obtained through sensors in the robot actuators. The load identification procedure is exempl...

In this paper, we present a method for programming robust, reusable and hardware-abstracted robot skills. The goal of this work is to supply mobile robot manipulators with a library of skills that incorporate both sensing and action, which permit robot novices to easily reprogram the robots to perform new tasks, as well as provide a more clear mapping between human and robot actions. Critical t...

A hybrid control scheme based on adaptive visual servoing and direct force control is proposed for robot manipulators to perform interaction tasks on smooth surfaces. The camera parameters, as well as the constraint surface, are considered to be uncertain. A fixed camera with optical axis non-perpendicular to the robot workspace is used for position control, while a force sensor mounted on the ...

The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the ma...