INTRODUCTION Transurethral laser surgery using a flexible multibackbone robot was recently demonstrated by Simaan et al. for bladder resection [1]. For transurethral prostate resection, thinner flexible manipulators are desirable. We have developed a hand-held system that transurethrally deploys two concentric tube robots through an 8.3 mm diameter rigid endoscope [2], as shown in Figs. 1 and 2...

ABSTRACT Formulating the suitable mathematical models and deriving the efficient algorithms for a robot kinematics mechanism are very crucial for analyzing the behavior of industrial robot manipulators. Direct kinematics that determines the Cartesian position and orientation of the end-effector for the specified values of joint parameters is generally performed using homogenous transforms. In t...

We present a geometric theory of the performance of robot manipulators, applicable to systems with constraints, which may be non-holonomic. The performance is quanti ed by a geometrical object, the induced metric tensor, from which scalars may be constructed by invariant tensor operations to give performance measures. The measures thus de ned depend on the metric structure of con guration and w...

Abstract A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal forcebased impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary contr...

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to ...

The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators u...

In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relativ...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (su...

Parallel robot manipulators comprise a mobile platform connected to a fixed base through three or more articulated links and are used extensively throughout industry for such diverse applications as high-precision positioning systems, fiber alignment, welding, robotic manipulators, automatic inspection systems, and so forth. Therefore, planning a trajectory to perform a specific task is one of ...