Search results for "Robotic arm"

showing 3 items of 33 documents

Bimanual robot control for surface treatment tasks

2021

This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation …

Surface (mathematics)0209 industrial biotechnologybusiness.industryComputer scienceWork (physics)Robotics02 engineering and technologyComputer Science ApplicationsTheoretical Computer ScienceRobot controlTask (computing)020901 industrial engineering & automationControl and Systems EngineeringElectrònica0202 electrical engineering electronic engineering information engineeringRobot020201 artificial intelligence & image processingComputer visionArtificial intelligenceRobust controlbusinessRobotic armCiència
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An Optimized Architecture for CGA Operations and Its Application to a Simulated Robotic Arm

2022

Conformal geometric algebra (CGA) is a new geometric computation tool that is attracting growing attention in many research fields, such as computer graphics, robotics, and computer vision. Regarding the robotic applications, new approaches based on CGA have been proposed to efficiently solve problems as the inverse kinematics and grasping of a robotic arm. The hardware acceleration of CGA operations is required to meet real-time performance requirements in embedded robotic platforms. In this paper, we present a novel embedded coprocessor for accelerating CGA operations in robotic tasks. Two robotic algorithms, namely, inverse kinematics and grasping of a human-arm-like kinematics chain, ar…

conformal geometric algebraSettore ING-INF/05 - Sistemi Di Elaborazione Delle Informazioniapplication-specific processorsComputer Networks and CommunicationsHardware and ArchitectureControl and Systems EngineeringSignal Processingcomputational geometryFPGA-based prototypingElectrical and Electronic Engineeringapplication-specific processors; Clifford Algebra; computational geometry; conformal geometric algebra; FPGA-based prototyping; grasping; human-like robotic arms; inverse kinematics
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Robotic Esophagectomy: The European Experience

2021

In 2003, robot-assisted minimally invasive thoraco-laparoscopic esophagectomy (RAMIE) was developed to overcome the technical limitations of minimally invasive esophagectomy (MIE). Robotic surgery benefits from a stable three-dimensional, magnified view and articulated instruments enabling precise dissection with 7 degrees of freedom of movement. At the time of introduction of RAMIE in 2003, there were no robotic endowristed coagulating instruments available. The dissection of the greater curvature along the gastroepiploic vessels with a rigid robotic ultrasonic scalpel did not add to conventional laparoscopic dissection. Furthermore, the dexterity of the robotic arms was insufficient to re…

medicine.medical_specialtyComputer sciencemedicine.medical_treatmentDissection (medical)Robotic esophagectomymedicine.diseaseCurvatures of the stomachSurgeryEsophagectomyInvasive esophagectomymedicineIvor lewisRobotic surgeryRobotic arm
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