The positioning stand could help the surgeon to position and lock endoscopic tools without the need for an assistant surgeon. The kinematic con guration of the positioning stand is comprised of two main parts, the arm (for positioning) and the wrist (for orienting the tool). The main requirement of the wrist is to perform spherical movements around the incision point. A concentric multi-link sp...

This work deals with a sawing task performed by two cooperating arms. For the sawing task to follow a line in a horizontal plane, three directional motions have to be controlled (i. e., two translational motions and one rotational motion). A [so, a certain level of force has to be controlled toward the vertical direction not to loose the contact with the object to be sawn. The two-arm system un...

Increased realization of the spatial heterogeneity found within in vivo tissue microenvironments has prompted the desire to engineer similar complexities into in vitro culture substrates. Microcontact printing (μCP) is a versatile technique for engineering such complexities onto cell culture substrates because it permits microscale control of the relative positioning of molecules and cells over...

A good performance of robot control requires the consideration of efficient dynamic models and sophisticated control approaches. Traditionally, control law is designed based on a good understanding of system model and parameters. Thus, a detailed and correct model of a robot manipulator is needed for this approach [1, 2]. A two-link planar nonlinear robotic system is a well-used robotic system,...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

This paper details the construction of a Robotic Arm or manipulator with SCARA configuration and having DC Motors at its joints. There are two revolute joints present in the manipulator arm which helps the manipulator to be in RRP configuration. The DC Motors are given a pulse for a definite duration according to which they rotate by a certain angle.