BACKGROUND To introduce a novel method of patient positioning for high precision intracranial radiotherapy. METHODS An infrared(IR)-array, reproducibly attached to the patient via a vacuum-mouthpiece(vMP) and connected to the table via a 6 degree-of-freedom(DoF) mechanical arm serves as positioning and fixation system. After IR-based manual prepositioning to rough treatment position and fixat...

Robotic arms have been used in various processes such as for moving goods, welding, assembling, and painting. In the case of welding painting, it is necessary to move end-effector robot accurately smoothly follow specified trajectory. robotic arm control, 2 things are important be analyzed implemented controlling motion arm, namely inverse kinematic trajectory planning. this study, planning alg...

Planning minimum-time, dynamically-feasible, collision-free trajectories for robotic manipulators is essential to improve industrial productivity. Yet this difficult problem is still waiting for robust and efficient algorithms. Here we propose to tackle it by bringing together two methods : fixed-path time-minimization under dynamics constraints and shortcuts-based smoothing. We implement our a...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

This paper proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. It supports the patient’s arm during rehabilitation which is a repetitive task and takes a period of time. Each joint of thi...

Robotic technology is gradually becoming commonplace in the medical sector and in the service of patients. Medical conditions that have benefited from significant technological development include stroke, for which rehabilitation with robotic devices is administered, and surgery assisted by robots. Robotic devices have also been proposed for assistance of movement disorders. Pathological tremor...

ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any p...

Nowadays, there are various robotics courses and programs. The media in the is vital classroom because it set up order to enable students learn efficiently. Therefore, goals of this study were 1) To develop a teaching demonstration Programmable Logic Controller (PLC)-controlled 5-axis robotic arm, 2) determine efficiency arm controlled by PLC set, 3) explore learners' learning achievement using...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...