The evolution of image-guided and robot-assisted procedures can be beneficial to intracardiac interventions. This paper proposes a novel approach and a virtual reality system for preoperative planning and intraoperative guidance of cardiac procedures, and for investigating the kinematics and control of a virtual robotic manipulator, based on MRI CINE images. The system incorporates dedicated so...

In this paper a comparison of classical, adaptive and neural control strategies for a robotic manipulator with two revolute joints is presented. The conventional computed-torque method is presented, as a starting point for the design of the adaptive and neural control techniques. Two adaptive control strategies, a non-model based neural control strategy and a model based neural control strategy...

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...

We propose a generalizable natural language interface that allows users to provide corrective instructions to an assistive robotic manipulator in real-time. Allowing human operators to modify properties of how their robotic counterpart achieves a goal on-the-fly increases the utility of the system by incorporating the strengths of the human partner (e.g., visual acuity and environmental knowled...

Mobile robotic manipulators can augment the strength and dexterity of human operators in unstructured environments. Here, the control system for a six degree-of-freedom heavy-lift mobile manipulator for lifting and inserting payloads on the deck of a ship is described. The robotic hardware and the application present several control challenges, including structural resonances, high joint fricti...

A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input–output training data from several typical motion trajectories is carried out with the aim of predicting the model systematic output error at time (t+1) from known input reference up till and including time (t). A new partial least squares regres...

One important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where the objective functions are chosen in order to meet desired perf...

Robotic complexes and robotic manipulators are widely used in the management of various objects processes control systems; their performance is directly related to execution element. Electromagnetic actuators multi-function systems structurally created separately for each adjustment body lead system complexity. To solve these problems, improve executive system's weight-gauge indicators, simplif...

This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary ...

In this paper, we will propose a cooperative control approach that is based on the hybrid grey-neural network with sliding mode control (HGNS) methodology. The main purpose is to eliminate the chattering phenomenon such that the two-link robotic manipulator has a superior tracking response. Moreover, the system performance obtained via the method of the HGNS can be improved. In the present appr...