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检索条件"机构=Mechatronics and Robotics"

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Accurate multi-DOF kinesthetic haptic display using instantaneous restriction space

Accurate multi-DOF kinesthetic haptic display using instanta...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Keehoon Kim Wan Kyun Chung Youngil Youm Robotics and Bio-Mechatronics Lab Pohang University of Science and Technology South Korea

ISBN: (纸本)0780389123

This paper proposes an accurate kinesthetic haptic display method for a multi-DOF haptic interface. Position-position (p-p) architecture plays an important role in a haptic interface like four channel architecture since force reflection using only force sensor information induces a serious problem if a slave manipulator is constrained by unexpected obstacles the force sensor cannot detect. However, the conventional p-p architecture in literature has limitations to apply to a multi-DOF haptic interface. This paper indicates the limitation through an example and proposes a novel haptic display method using instantaneous restriction space (IRS). IRS can be calculated using Jacobian and joint angle error of a slave manipulator. Since the proposed method has the form of impedance two port architecture in the sense of data flow, it can be easily combined with the previous results of two-port haptic display framework in literature. The method is compared to the conventional p-p architecture through experiments.

关键词： Haptic interfaces Displays Force sensors Impedance Master-slave Humans Stability Reflection Force control Iron

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A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulator

A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Ottaviano M. Ceccarelli A. Paone G. Carbone LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Frosinone Italy

In this paper the design and kinematic performances are presented for a low-cost parallel manipulator with 4 driven cables. It has been conceived for an easy programming of its operation by properly formulating the Kinematics of the parallel architecture that uses cables. A prototype has been built and tests have experienced the feasibility of the system design and its operation.

关键词： Cables Manipulators Prototypes Kinematics Laboratories Parallel robots mechatronics Robot programming System testing DC motors

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End of life management of automation devices

End of life management of automation devices

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作者： Kopacek, P. Kopacek, B. Institute for Mechanics and Mechatronics Division for Intelligent Handling and Robotics Vienna University of Technology Favoritenstrasse 9-11 A - 1040 Wien Austria ECOTRONICS Gmbh. Albert Schweitzergasse 11 A-1140 Wien Austria

ISBN: (纸本)008045108X

End of Life Management (EOL) is currently a hot topic in the electronics industry. Currently mostly IT equipment and goods of consumer electronics are considered. in the nearest future automation equipment have also to be taken into account. There are three possibilities depending on the age and kind of the device: Resell - Reuse - Recycle called the "3R's".For recycling fully or semi-automated disassembly will gain in importance in the nearest future especially for automation devices. Developers of automation devices have to take into account EOL because of regulations and laws as well as according to ethical codes contributing to protection of the environment. Copyright © 2005 IFAC.

关键词： Electronics industry

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On solving periodic differential matrix equations with applications to periodic system norms computation

On solving periodic differential matrix equations with appli...

引用

IEEE Conference on Decision and Control

作者： A. Varga German Aerospace Center DLR-Oberpfaffenhofen Institute of Robotics and Mechatronics Wessling Germany

ISBN: (纸本)0780395670

Periodic Lyapunov, Sylvester and Riccati differential equations have many important applications in the analysis and design of linear periodic control systems. For the numerical solution of these equations efficient numerically reliable algorithms based on the periodic Schur decomposition are proposed. The new multi-shot type algorithms compute periodic solutions in an arbitrary number of time moments within one period by employing suitable discretizations of the continuous-time problems. In contrast to traditionally used one-shot periodic generator methods, the multi-shot type methods have the advantage to be able to address problems with large periods and/or unstable dynamics. Applications of the proposed techniques to compute several system norms are presented.

关键词： Differential equations Riccati equations Control systems Aerodynamics Eigenvalues and eigenfunctions Control system analysis Controllability Observability Filtering theory Software algorithms

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Direct and inverse problem models for large soft-tissue deformation: Application to haptic feedback in surgical simulation

Direct and inverse problem models for large soft-tissue defo...

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International Conference on Advanced robotics (ICAR)

作者： Tie Hu J.P. Desai A.C.W. Lau Program for Robotics Intelligent Sensing and Mechatronics Laboratory Drexel University Philadelphia PA USA

Biomechanical model of soft tissue derived from experimental measurements is critical to develop a reality-based model for minimally invasive surgical training and simulation. We have focused on developing a biomechanical model of the liver with the ultimate goal of using this model for local tool-tissue interaction tasks and providing feedback to the surgeon through a haptic (sense of touch) display. It is of interest to develop a model of the soft tissue through probing experiments. An experimental apparatus was developed to perform both large probe compression test and the tissue probing test. The specimens were compressed to attain 30% nominal strain using a range of probing speeds (0.1016 mm/sec, 5.08 mm/sec, 12.70 mm/sec and 25.40 mm/sec). The compressive force-displacement curves were monotonic but highly nonlinear. Models consistent with experimental data were developed to characterize the deformation resistance of the soft tissue. Removing the assumption of incompressibility, an inverse-problem model can computationally determine the LEEM with axisymmetric finite element analysis. The sensitivity of LEEM on the tissue's compressibility (Poisson's ratio) was presented. Additionally, the variation of LEEM of pig liver with the probing speed was revealed. These results can be used to model soft-tissue deformation under varying probing speed by a surgical tool

关键词： Inverse problems Deformable models Haptic interfaces Feedback Biological tissues Minimally invasive surgery Liver Testing Surges Displays

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Persistent motion and chaos in attitude control with switching actuators

Persistent motion and chaos in attitude control with switchi...

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作者： Mesquita, Alexandre Rodrigues Kienitz, Karl Heinz Instituto Tecnológico de Aeronáutica São José dos CamposSP Brazil Institute for Robotics and Mechatronics DLR Oberpfaffenhofen Postfach 11 16 D-82230 Weßling Germany

ISBN: (纸本)008045108X

in systems with switching actuators persistent motions of different nature may occur, such as limit cycles, quasi-periodic and chaotic motions. in this contribution the nature of persistent motions in an attitude control system with switching actuators subject to switching restrictions are examined as a function of controller parameters. Bifurcation diagrams are used to describe observations. in the light of the bifurcation diagrams, control issues and earlier results obtained with the describing function method are assessed from a more general perspective. Copyright © 2005 IFAC.

关键词： Attitude control

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Robust sonar feature detection for the SLAM of mobile robot

Robust sonar feature detection for the SLAM of mobile robot

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jinwoo Choi Sunghwan Ahn Wan Kyun Chung Robotics & Bio-Mechatronics Lab Pohang University of Science & Technology (POSTECH) Pohang Korea

Sonar sensor is an attractive tool for the SLAM of mobile robot because of their economic aspects. This cheap sensor gives relatively accurate range readings if disregarding angular uncertainty and specular reflections. However, these defects make feature detection difficult for the most part of the SLAM. This paper proposes a robust sonar feature detection algorithm. This algorithm gives feature detection methods for both point features and line features. The point feature detection method is based on the TBF (Wijk and Christensen, 2000) scheme. Moreover, three additional processes improve the performance of feature detection as follows; 1) stable intersections; 2) efficient sliding window update; and 3) removal of the false point features on the wall. The line feature detection method is based on the basic property of adjacent sonar sensors. Along the line feature, three adjacent sonar sensors give similar range readings. Using this sensor property, we propose a novel algorithm for line feature detection, which is simple and the feature can be obtained by using only current sensor data. The proposed feature detection algorithm gives a good solution for the SLAM of mobile robots because it gives an accurate feature information for both the point and line features even with sensor errors. Furthermore, a sufficient number of features are available to correct mobile robot pose. Experimental results of the EKF-based SLAM demonstrate the performance of the proposed feature detection algorithm in a home-like environment.

关键词： Sonar detection Robustness Computer vision Simultaneous localization and mapping Mobile robots Detection algorithms Environmental economics Uncertainty Reflection Sensor phenomena and characterization

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Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis

Enabling Technologies for Robotically-Assisted Sutureless Co...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.W. Kennedy J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA

Performing a fine manipulation task on a moving surface through a teleoperated robotic system presents significant challenges to the human operator. Addressing these challenges is particularly important in robotic surgical systems, where motion of the patient can result in surgical errors that degrade the quality of the surgery. The use of motion compensation by a robot manipulator to cancel the motion of the patient would represent a significant improvement over existing techniques. The purpose of this research is to evaluate the role of force-feedback in a motion-canceling teleoperation system. We have developed an experimental system in which the roles of motion-cancellation and teleoperation have been decoupled between separate robot manipulators. Our results lead us to the conclusion that force-feedback minimizes contact forces in motion-canceling teleoperation due to: 1) minimization of the collision forces due to the initial contact with the target surface, and 2) minimizing forces due to accidental contact generated by tracking errors by taking advantage of the naturally modulated impedance of the human hand during such tasks.

关键词： Surgery Manipulators Robot sensing systems robotics and automation Humans Intelligent robots Heart Degradation Surface impedance mechatronics

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Levenberg-Marquardt Based Neural Network Control for a Five-fingered Prosthetic Hand

Levenberg-Marquardt Based Neural Network Control for a Five-...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jingdong Zhao Zongwu Xie Li Jiang Hegao Cai Hong Liu G. Hirzinger Robotics Institute of Harbin Institute of Technology Harbin Institute of Technology Harbin Heilongjiang China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

This paper presents a surface Electromyography (EMG) motion pattern classifier which combines Levenberg-Marquardt (LM) based neural network with parametric Autoregressive (AR) model. This motion pattern classifier can successfully identify three types of motion of thumb, index finger and middle finger, by measuring the surface EMG through two electrodes mounted on the flexor digitorum profundus and flexor pollicis longus. Furthermore, via continuously controlling single finger’s motion, the five-fingered underactuated prosthetic hand can achieve more prehensile postures such as power grasp, centralized grip, fingertip grasp, cylindrical grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its fast learning speed, high recognition capability and strong robustness.

关键词： Neural networks Prosthetic hand Electromyography Fingers Thumb Motion measurement Electrodes Centralized control Motion control Control systems

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Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing

Robust Real-Time Instrument Tracking in Ultrasound Images fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Ortmaier M.-A. Vitrani G. Morel S. Pinault Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Robotics Laboratory of Paris (LRP) CNRS University of Paris VI Fontenay-aux-Roses France

Minimally invasive surgery in combination with ultrasound (US) imaging imposes high demands on the sur geon’s hand-eye-coordination capabilities. A possible solution to reduce these requirements is minimally invasive robotic surgery in which the instrument is guided by visual servoing towards the goal defined by the surgeon in the US image. This approach requires robust tracking of the instrument in the US image sequences which is known to be difficult due to poor image quality. This paper presents computer vision algorithms and results of visual servoing experiments. Adaptive thresholding according to Otsu’s method allows to cope with large intensity variations of the instrument echo. Subsequently applied morphological operations suppress noise and echo artefacts. A fast labelling algorithm based on run length coding allows for realtime labelling of the regions. A heuristic exploiting region size and region velocity helps to overcome ambiguities. The overall computation time is less than 10 ms per frame on a standard PC. The tracking algorithm requires no information about texture and shape which are known to be very unreliable in US image sequences. Experimental results for different instrument materials (polyvinyl chloride, polyurethane, nylon, and plexiglas) are given, illustrating the performance of the proposed approach: when chosing the appropriate material the reconstructed trajectories are smooth and only few outliers occur. As a consequence, the visual servoing loop showed to be robust and stable.

关键词： Robustness Ultrasonic imaging Visual servoing Minimally invasive surgery Image sequences Labeling Robots Surgical instruments Surges Image quality

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