Search results for "Robotic"

Dynamic Analysis of a 7 DOF Robot Using Fuzzy Logic for Inverse Kinematics Problem

2019

Abstract In this paper, a dynamic analysis for a redundant, serial robot, with seven degrees of freedom is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into MATLAB®, Simulink®-Simscape™-SimMechanics™. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. Because this type of robot has seven degrees of freedom the IK resolution implies an infinite number of solutions. So, to be able to resolve the IK for this kind of robot a F…

Measurement and storage of a network of jacobians as a method for the visual positioning of a robot arm

1996

The goal of this paper is to describe a method to position a robot arm at any visible point of a given workspace without an explicit on line use of the analytical form of the transformations between real space and camera coordinates (camera calibration) or between cartesian and joint coordinates (direct or inverse kinematics of the robot arm). The formulation uses a discrete network of points distributed all over the workspace in which a procedure is given to measure certain Jacobian matrices which represent a good local linear approximation to the unknown compound transformation between camera and joint coordinates. This approach is inspired by the biological observation of the vestibulo-o…

Distributed GNSS-Based Time Synchronization and Applications

2016

The paper deals with synchronization standards, applications and challenges in the modern packet switched telecommunication networks. In recent years, the number of time-dependent services and systems only increases with the development of such areas as Internet of Things (IoT), industrial Internet, remote automation and robotics, precise positioning etc. In the paper, these emerging applications are discussed. An alternative way to the traditional centralized synchronization infrastructure is proposed. Compact and low-priced devices equipped with a Global Navigation Satellite System (GNSS) receiver and a reliable internal clock can be installed specifically in the places where they are nee…

<title>HAP: a hybrid system for reasoning about actions and plans in robotics</title>

1990

The paper describes the main ideas and principles of HAP (Hybrid representation of Actions and Plans), a system for hybrid representation and reasoning in advanced robotics. In this context, hybrid representation refers to the integration of both symbolic and analogic knowledge representation paradigms. In particular, the logic/symbolic component is based on a KL-ONE-like representation language. The system embeds "analogic experts", that are concurrent procedures operating in a direct and fast way on the world representation. These "experts" help the system in planning a correct temporal sequence of actions. As a reference scenario, assembly (and disassembly) problems are considered. The a…

ROBOTIC VERSUS LAPAROSCOPIC INTRACORPOREAL ANASTOMOSIS IN RIGHT COLON CANCER SURGERY: ANALYSIS OF PATIENTS’ OPERATIVE OUTCOMES AND OPERATORS’ CURRENT…

2022

Background. Whereas laparoscopy proved to have better operative outcomes than open surgery over the years, robotic surgery provided no clear advantages over laparoscopy despite its more advanced technical features. However, robotic technology might help to achieve some advantageous procedures which are generally regarded as challenging, such as performing an intracorporeal anastomosis during a right colectomy. The objectives of this research project were: 1) to compare the outcomes of laparoscopic and robotic surgery in the case of a right colectomy with intracorporeal anastomosis for colon cancer; 2) to find any factors influencing surgical decisions and outcomes. Methods. First, we conduc…

P191 The robotic surgery in the treatment of Crohn's disease: our experience

2017

Uterine preservation in pelvic organ prolapse and urinary stress incontinence using robot-assisted laparoscopic surgery. Case report

2020

Highlights • Pelvic organ prolapse (POP) represents a common and bothersome condition in parous women. • The demand to “save” the uterus has fuelled a renewal of the surgical technique. • Robotic surgery was conceived with the intent to overcome the limitations of laparoscopic surgery. • The characteristics of the robotic system help surgeons to perform conservative management of POP.

Work-related upper limb musculoskeletal disorders in paediatric laparoscopic surgery. A multicenter survey.

2013

Abstract Background Surgeons are at risk for developing work-related musculoskeletal symptoms (WMS). The present study aims to examine the physical factors and their association with WMS among pediatric laparoscopic surgeons. Methods A questionnaire consisting of 21 questions was created and mailed to 25 pediatric laparoscopic surgeons (LG). 23/25 surgeons (92%) completed the survey. The questionnaire was analyzed and then split into 2 groups. Group 1 (LG1) included surgeons with greater laparoscopic experience, and group 2 (LG2) included surgeons with less important laparoscopic experience. In addition, we constructed and sent to the same surgeons a similar questionnaire focused on WMS aft…

Innovation in endocrine surgery: robotic versus laparoscopic adrenalectomy. Meta-analysis and systematic literature review.

2017

Several studies in the last years demonstrated the better surgical outcome of laparoscopic approach to adrenal gland. Laparoscopic surgery is more difficult to learn and requires different psychomotor skills than open surgery, especially with regard to complex maneuvers requiring precision and dexterity. The development of robotic platform with three-dimensional vision and increased degrees of freedom of the surgical instruments has the aim to overcome these problems. We performed a systematic literature review with meta-analysis to evaluate preoperative data and surgical outcomes of robotic adrenalectomy compared with laparoscopic technique. In September 2016 we performed a systematic lite…

Robotic Process Automation and Consequences for Knowledge Workers; a Mixed-Method Study

2020

Part 2: Fourth Industrial Revolution; International audience; This paper explores an overly optimistic and tenacious claim in the literature that robotic process automation (RPA) will only free knowledge workers from mundane tasks and introduce more interesting work. We explore this claim and other consequences for knowledge workers using data from a sequential quantitative-qualitative, mixed-method study in Norway. 88 RPA users from different sectors and industries where first surveyed to identify differences in utilization and effects from RPA. Then, differences were explored in 24 in-depth interviews in the public and private sectors, including financial industry, manufacturing, and oil …