In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four degrees of freedom that track the surgeon’s x, y, z positions and the rotation angle of the forearm θ. The system comprises two main subsystems viz. the det...

We proposed a programmable system that control robotic arm to grasp objects with human interaction. We are able to detect multiple objects of various types. Our system invloves hand-eye calibration which determines the camera pose, vision detection which extract representative positions of objects, preprocessing which sets everything fine for vision algorithm, underlying control which actually ...

In this paper, we introduce new performance indices to characterize the workspace of reconfigurable hyper-redundant robotic arms. These indices are then used to analyze the workspace of a type of hyper-redundant robotic arm using as modules lower mobility parallel platforms. The modules of the reconfigurable robotic arm are the three-legged translational universal–prismatic–universal (UPU) and ...

We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo image...

Fluoroscopic C-arms are common devices for acquiring images during surgery. Manual positioning is time consuming and requires considerable experience. Trained users must often take several images to find the best viewing direction. If a second image must be taken from the same position, e.g. for postoperative control, the C-arm must be moved to the exact same position. Without guidance, this is...

This paper describes the development of a virtual system that operates a robotic arm for educational purposes, the system allows to visualize in a synthetic environment to this robot and send signals through the USB port to replicate the movements in the real model. It addresses the solution to the problem of achieving a portable and multiplatform system. This solution is supported in Blender s...