IEEE Trans. Robotics Autom.最新文献_第2页

A decentralized approach to formation maneuvers 一种分散的编队机动方法

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819598

J. Lawton, R. Beard, B. Young

引用次数: 1051

Dynamic sliding PID control for tracking of robot manipulators: theory and experiments 机器人机械臂动态滑动PID跟踪控制:理论与实验

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819600

Vicente Parra‐Vega, S. Arimoto, Yunhui Liu, G. Hirzinger, P. Akella

引用次数: 304

Inverse dynamics based control system for a three-degree-of-freedom flexible arm 基于逆动力学的三自由度柔性臂控制系统

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819596

V. F. Batlle, J. A. Somolinos, Andres H. García

{"title":"Inverse dynamics based control system for a three-degree-of-freedom flexible arm","authors":"V. F. Batlle, J. A. Somolinos, Andres H. García","doi":"10.1109/TRA.2003.819596","DOIUrl":"https://doi.org/10.1109/TRA.2003.819596","url":null,"abstract":"This article describes a new control scheme designed for a three-degree-of-freedom flexible arm. This arm has been built with light links, has most of its mass concentrated at the tip, and uses a special mechanical configuration to approximately decouple tip motions in spherical coordinates. This configuration facilitates the dynamic modeling and control of the arm. A compliance matrix can be used to model the oscillations of the structure. A consequence of this simple dynamic is that minimum sensing effort is required (only direct motor and tip measurements), and the use of complex observers is avoided because the state of the system can be very easily obtained from these measurements. A two-nested control-loop scheme is used to control the tip position by using joint position and tip acceleration feedbacks. The stability of the controlled system is analytically proven in the case of perfect dynamic modeling. Then, an analysis of stability in the case of modeling errors is carried out, and conditions for local stability are derived. Experimental results are presented for the cases of perturbation control and trajectory tracking. Comparative results between controlled and noncontrolled tip responses are also shown.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116752663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 37

Continuous-time restless bandit and dynamic scheduling for make-to-stock production 连续时间不动强盗和动态调度的库存生产

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819728

F. Dusonchet, M. Hongler

引用次数: 28

Grasp analysis and synthesis based on a new quantitative measure 掌握基于新的定量测度的分析与综合

IEEE Trans. Robotics Autom. Pub Date : 2003-12-01 DOI: 10.1109/TRA.2003.819604

Xiangyang Zhu, H. Ding, Jun Wang

引用次数: 47

Design and implementation of a haptic device for training in urological operations 用于泌尿外科手术训练的触觉装置的设计与实现

IEEE Trans. Robotics Autom. Pub Date : 2003-10-14 DOI: 10.1109/TRA.2003.817064

K. Vlachos, E. Papadopoulos, D. Mitropoulos

引用次数: 47

A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation 一种微型显微外科器械尖端力传感器，用于在机器人辅助操作过程中增强力反馈

IEEE Trans. Robotics Autom. Pub Date : 2003-10-14 DOI: 10.1109/TRA.2003.817526

P. Berkelman, L. Whitcomb, R. Taylor, P. Jensen

引用次数: 175

Medical robotics in computer-integrated surgery 计算机集成手术中的医疗机器人

IEEE Trans. Robotics Autom. Pub Date : 2003-10-14 DOI: 10.1109/TRA.2003.817058

R. Taylor, D. Stoianovici

引用次数: 1027

Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing 基于视觉伺服的机器人腹腔镜手术中手术器械的自主三维定位

IEEE Trans. Robotics Autom. Pub Date : 2003-10-14 DOI: 10.1109/TRA.2003.817086

Alexandre Krupa, J. Gangloff, C. Doignon, M. Mathelin, G. Morel, J. Leroy, L. Soler, J. Marescaux

{"title":"Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing","authors":"Alexandre Krupa, J. Gangloff, C. Doignon, M. Mathelin, G. Morel, J. Leroy, L. Soler, J. Marescaux","doi":"10.1109/TRA.2003.817086","DOIUrl":"https://doi.org/10.1109/TRA.2003.817086","url":null,"abstract":"This paper presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations. The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing. The goal of the automated task is to safely bring the instrument at a desired three-dimensional location from an unknown or hidden position. Light-emitting diodes are attached on the tip of the instrument, and a specific instrument holder fitted with optical fibers is used to project laser dots on the surface of the organs. These optical markers are detected in the endoscopic image and allow localizing the instrument with respect to the scene. The instrument is recovered and centered in the image plane by means of a visual servoing algorithm using feature errors in the image. With this system, the surgeon can specify a desired relative position between the instrument and the pointed organ. The relationship between the velocity screw of the surgical instrument and the velocity of the markers in the image is estimated online and, for safety reasons, a multistages servoing scheme is proposed. Our approach has been successfully validated in a real surgical environment by performing experiments on living tissues in the surgical training room of the Institut de Recherche sur les Cancers de l'Appareil Digestif (IRCAD), Strasbourg, France.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131121572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 241

Needle insertion modeling and simulation 针插入建模与仿真

IEEE Trans. Robotics Autom. Pub Date : 2003-10-14 DOI: 10.1109/TRA.2003.817044

S. DiMaio, S. Salcudean

引用次数: 503