Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used dif...

This paper introduces a new approach to control a robot manipulator in a way that is safe for humans in the robots workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots of the capability of people Instead, the goal of our control paradigm is to make the interaction with ...

This paper introduces a new approach to the control of robot manipulators in a way that is safe for humans in the robot's workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots with the capabilities of people. Instead, the goal of our control scheme is to make the interac...

The satellite thruster's configuration plays also an important role in providing the attitude control torques. In this paper, after discussing the gimbal thruster's structure and its benefits, several configurations based on 2, 3 and 4 gimbal thrusters are investigated in order to identify the most suitable orientation that consume less fuel and raise reliability. Then, a 3-axis attit...

Many applications require continuous monitoring of a moving target by a controllable vision system. Although the goal of tracking objects is not new, traditional techniques usually ignore the presence of obstacles and focus on imaging and target recognition issues. For a target moving among obstacles, the goal of tracking involves a complex motion problem: a controllable observer (e.g., a robot...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

BACKGROUND Although robotic laparoscopic surgery has various benefits when compared with conventional open surgery and minimally invasive surgery, it also has issues to overcome and one of the issues is the discontinuous surgical flow that occurs whenever control is swapped between the endoscope system and the operating robot arm system. This can lead to problems such as collision between surgi...