Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

This paper presents a new robotic mechanism for ultrasound imaging. The device is placed on a patient's body by an operator, and an ultrasound expert controls the motions of the device to obtain ultrasound images. The paper focuses on the robotic mechanism that performs ultrasound imaging. The design of the mechanism is based on two approaches to produce center of motion for an ultrasound probe...

ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any p...

The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team "nurse coordinator, scrub-nurse and circulating-nurse" has a certain job description to ensure...

stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...

PURPOSE Robotic surgery is known to provide an improved technical ability as compared to laparoscopic surgery. We aimed to compare the efficiency of surgical skills by performing the same experimental tasks using both laparoscopic and robotic systems in an attempt to determine if a robotic system has an advantage over laparoscopic system. METHODS Twenty participants without any robotic experi...

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...

Robotic workcell simulation is a modeling-based problem solving approach developed for the design, analysis, and offline programming of robotic workcells. Current industrial practices show that commercial robotic simulation software packages are able to provide designers with an interactive and virtual environment in which credible solutions for robotic workcell designs can be obtained. However...

A marsupial robotic fish system including a mother robotic fish and a daughter robotic fish is proposed. The mother robotic fish, with strong ability of movement, can transport the daughter robotic fish in its cabin. The structures of these two robotic fish are presented and fish-like motions are introduced. A dynamic light source tracking method of the daughter robotic fish is given to follow ...