2.3 REDUNDANCY RESOLUTION
Manipulator redundancy resolution is a way to specify a functional form of the redundant degrees of freedom based on some objective functions such that, among the infinite number of choices, a specific solution of the inverse kinematics problem is determined. This has been a research topic that has attracted considerable attention in recent years [20][30], and has resulted in a number of different approaches for redundancy resolution.
In order to be able to analyze and evaluate the methods for resolving kinematic redundancy in a systematic way, it is necessary to classify them according to some common criteria, properties or underlying mathematical formulations. There are a number of ways for classifying the methodologies which resolve kinematic redundancy. For example, one can classify the methods based on performance criteria such as kinematic optimality criteria (e.g. manipulability index [40]) or kinetic criteria (e.g. joint torques). Alternatively, one may borrow terminologies from optimization theory and consider a classification into two classes that utilize (l) Local optimization approaches and (2) Global optimization approaches. These classifications may have some advantages, but they have no direct connection with the control strategies used for redundant manipulators. Since the aim of this thesis is to develop control strategies for redundant manipulators. We shall consider another classification where the terminology is based on control techniques. In particular, the classification is based on control strategies that incorporate end-effector measurements such as those based on resolved-position, resolved-velocity, and resolved-acceleration. Depending on which equation (i.e., equation (2.2.1), ...
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...and a homogeneous equation Zh = 0, where h is the gradient vector of the constraint function. The matrix Z is composed of the n –m linearly independent vectors which span the null space of the manipulator's Jacobian matrix. Therefore, the homogeneous equation characterizes the self-motion of the redundant manipulator. The n algebraic equations can be solved iteratively using numerical methods. It should be noted that the formulation of redundancy resolution in this approach is very versatile since the matrix Z depends only on the manipulator Jacobian while the vector h depends only on the desired performance criteria. A potential drawback of the method is the computational complexity since the definition of Z involves selecting and inverting a full rank submatrix based on the manipulator Jacobian Je. Some other approaches in this category can be found in [1] [16].
The robotics team from Carl Hayden high school faces many hardships individually and collectively. An obstacle that they faced was money issues, and they were on a tight budget. Oscar also had an obstacle. He couldn’t join the military because he was undocumented. The money issue is stated in paragraph 17, It states the following “Despite the donations, they were still on a tight budget.” This sentence proves that they have money issues, and they raised a total of $800, and it is stated in paragraph 17 as well, “Oscar and his team raised a total of about $800.” As it is stated in the text before, the robotics team at Carl Hayden’s high school doesn’t have as much money donated to them as others teams, so that limited their options for parts, which puts them at a
The Canadarm was designed by M.d Robotics to not have any fixed ends so it could crawl along the space station to repair or to move parts on the Space Station. The Canadian arm is 17.6(55ft) long with 7 motorized joints that can turn 540 degrees. The arm is controlled by an astronaut inside the space station, the astronaut is able to see through 4 color cameras that will help him control the arm in how it’s suppose to be used.
Recently, articular surgery robot named ‘ROBODOC’ or ‘RIO’ has been widely used for arthritis or arthroplasty. Both robots consist of arthroscope and tiny surgical instruments. Many surgeons estimated that articular surgery using these robots is more accurate, elaborate than using an arthroscope and small surgical instrument,
At the beginning of January, Mrs. Jones broke her right ankle, had surgery on it, and she was left with a cast that stretched up to her knee. For the next several weeks, she was at the mercy of family and friends to take her back and forth, for there is no such thing as public transportation in this little town. Feeling desperate and trapped led her to seek out another avenue to get around without having to rely on others for transportation. Having knowledge of the fact that they do have devices for the disabled led her to investigate whether or not this would be a viable choice for someone such as herself. She had concerns over cost, installation, eases of use, and of course, safety. Portable hand controls are an excellent product because they are affordable, easy to use, and, most important of all they are safe.
Fabrication at the factory utilizes a mix of robotics and manual labor to produce the body of the V-Rod. Robots that are designed to cut pipe are capable of completing a single operation within 3 seconds. Other fabrication robots utilize 1800 watt lasers that can perform cutting operations at the rate of 100 inches per minute. Where robotics can be used to perform high speed cutting and welding operations, skilled workers are a...
Robotic Surgery is an emerging technology that utilizes purpose-built robots to perform surgical procedures on patients. At present these robots are not autonomous, they are controlled by a surgeon at all times.
Throughout literature countermovement jumps (CMJ) are seen to be higher in contrast to squat jumps (SJ) (Bobbert et al. 1996; Kubo et al. 1999; Bobbert et al. 2005). However present literature regarding the key potential mechanisms behind why greater muscle forces are seen accelerating the body upwards in CMJ in comparison to SJ is somewhat unclear. A CMJ can be defined as a positioning starting upright, beginning the descending motion in advance of the upward motion in contrast to a SJ where the start position is squatted with no preparatory countermovement (Akl 2013). The higher jump heights seen in CMJ in comparison to SJ are apparent even if at the start of propulsion phase the body configuration is identical (Bobbert et al. 1996). In past literature three main mechanisms have looked to provide an explanation for the greater muscle forces seen in CMJ than the SJ. The first plausible theory is that the muscle stretch in CMJ increases the production of force capability of the contractile machinery (Edman et al. 1978; Ettema et al. 1992; Herzog et al. 2003). Secondly the assumption that the muscle fibres are on the descending limb of their force–length relationship at the start of propulsion in the CMJ and SJ, however in CMJ the stretching of a chain of elastic components, they are not as far past optimum length therefore allowing a greater force over the initial phase of their shortening range, with the stretching of sequences of elastic components, this then causes the storage of elastic energy that is then reutilized in the propulsion phase (Ettema et al. 1992). The final explan...
The focus of robotic surgery can be very debatable for many people in this environmental community. A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.
In the last decade, surgery has seen a tremendous change, going from very invasive and painful procedures to minimally invasive procedures that require less time to recover, and the technology that has made this possible is the robotic surgical systems. Furthermore, while robotics have a wide range of uses and benefits, clinical rehabilitation has made good use of it, thanks to the creation of robotic devices, “robotic devices enable repetitive task practice in the gravity-assisted and gravity-eliminated planes through external support (exoskeleton or support sling), potentially addressing the needs of individuals with severe motor impairment” (Livengood et al., 2011). According to Fisher and Feigenbaum (2015), therapists and administrators that had the chance to apply robotic devices during clinical rehabilitation, found that these devices pose many opportunities in therapy programs, particularly for individuals with severe upper limb neurological
This is where means of a robotic device perform surgery– controlled by a human surgeon, which time and risk of complications are reduced. Virtual reality has been also being used for training purposes and, in the field of remote tele surgery in which the surgeon perform a surgery at a separate location to the patient. The main feature of this system is force feedback as the surgeon needs to be able to measure the amount of pressure to use when a delicate procedure is performed. However, there is an issue of time delay or latency which is a serious concern as any delay – can feel abnormal to the surgeon and interrupt the procedure. So there needs to be precise force feedback to prevent
Or in a project humanoid robot with brain activities signals of a person to control the movement with non-invasive technique for left, right and forward movement [5].
Lizotte, Ryan. "Selecting, Installing, and Maintaining a Through-arm Robotic GMAW Gun." - TheFabricator.com. N.p., 10 Sept. 2012. Web. 08 May 2014.
.Robotics can completely change the medical field, surgical robots can be thought of as extra integrations in surgery which increase the quality of the operation. The goal of surgical robotics is not to supersede the sur...
Each of the six basic styles of robot used in industry today were designed with different applications in mind. Some of the robots were designed for assembly, others are more suited for simple pick and place applications, while a select few are capable of carrying heavy loads over a large area.