On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom

2014 ◽  
Vol 657 ◽  
pp. 803-807
Author(s):  
Dorin Bădoiu ◽  
Marius Petrescu ◽  
Georgeta Toma ◽  
Johannes Cornelis Helthuis
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Six Degrees Of Freedom ◽  
Robot Gripper ◽  
Orientation Function ◽  
Parabolic Trajectory ◽  
Simulation Results ◽  
Position And Orientation ◽  
Complex Trajectories ◽  
Orientation Parameters

In this paper a method that allows the generation of complex trajectories using a RRTRRR robotic system (with five rotation modules and a translation module) is presented. The method is based on the decoupling between the positioning function and the orientation function of the tool frame (OTxTyTzT) attached to the robot gripper. The method permits to determine all the solutions corresponding to the robot coordinates that allow obtaining the movement of the tool frame with imposed position and orientation parameters. Finally, some simulation results are presented in the case when OT is moving along a parabolic trajectory with an imposed orientation of the tool frame.

Alternative Inverse Kinematic Equations for General RRP and RRR Regional Structures of Manipulators

1996 ◽  
Author(s):  
Peregrine E. J. Riley
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Inverse Kinematic ◽  
Intersection Point ◽  
Degree Polynomial ◽  
Six Degrees Of Freedom ◽  
Common Intersection ◽  
Position And Orientation ◽  
Spatial Positioning ◽  
Orientational Structure

Abstract Many manipulators with six degrees of freedom are constructed with two distinct sections, a regional structure for spatial positioning, and an orientational structure having a common intersection point for the joint axes. With this arrangement, inverse kinematic solutions for position and orientation may be found separately. While solutions for general three link manipulators have been available since the work of Pieper in 1969, this paper presents new forms of the inverse kinematic equations for general RRP and RRR regional structures. Cartesian coordinates of the F-surface (generated by movement of the outer two joints) together with the outer joint angle are used as the equation variables. In addition, a second degree polynomial approxiamation of the equation may be used for quick iteration to a solution. It is hoped that these new equations will be useful by themselves and in workspace regions where solutions using equations in terms of the joint variables are numerically inaccurate or impossible.

Validation of a Novel 3D-Printed Instrumented Spatial Linkage That Measures Changes in the Rotational Axes of the Tibiofemoral Joint

2013 ◽  
Author(s):  
Daniel P. Bonny ◽  
S. M. Howell ◽  
M. L. Hull
Keyword(s):  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Anatomic Landmarks ◽  
Tibiofemoral Joint ◽  
Six Degrees Of Freedom ◽  
Revolute Joints ◽  
Flexion Extension ◽  
3D Printed ◽  
Total Knee ◽  
Position And Orientation

The two kinematic axes of the tibiofemoral joint, the flexion-extension (F-E) and longitudinal rotation (LR) axes [1], are unrelated to the anatomic landmarks often used to align prostheses during total knee arthroplasty (TKA) [1, 2]. As a result, conventional TKA changes the position and orientation of the joint line, thus changing the position and orientation of the F-E and LR axes and consequently the kinematics of the knee. However, the extent to which TKA changes these axes is unknown. An instrument that can measure the locations of and any changes to these axes is an instrumented spatial linkage (ISL), a series of six instrumented revolute joints that can measure the six degrees of freedom of motion (DOF) between two rigid bodies without constraining motion. Previously, we computationally determined how best to design and use an ISL such that rotational and translational errors in locating the F-E and LR axes were minimized [3]. However, this ISL was not constructed and therefore its ability to measure changes in the axes has not been validated. Therefore the objective was to construct the ISL and quantify the errors in measuring changes in position and orientation of the F-E axis.

Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

2014 ◽  
Vol 11 (2) ◽  
pp. 235-246 ◽  
Author(s):  
Yo Kobayashi ◽  
Yuta Sekiguchi ◽  
Takehiko Noguchi ◽  
Yu Takahashi ◽  
Quanquan Liu ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Single Port ◽  
Robotic System ◽  
Six Degrees Of Freedom ◽  
Single Port Surgery ◽  
Robotic Tool

Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models

2005 ◽  
Vol 103 (2) ◽  
pp. 320-327 ◽  
Author(s):  
Akio Morita ◽  
Shigeo Sora ◽  
Mamoru Mitsuishi ◽  
Shinichi Warisawa ◽  
Katopo Suruman ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Control Unit ◽  
Feasibility Studies ◽  
Robotic System ◽  
Content Type ◽  
Field Development ◽  
Six Degrees Of Freedom ◽  
Surgical Field ◽  
Robotic Instruments ◽  
Fine Print

Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master—slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

scholarly journals Testing of a MEMS Dynamic Inclinometer Using the Stewart Platform

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4233 ◽  
Author(s):  
Zhihua Liu ◽  
Chenguang Cai ◽  
Ming Yang ◽  
Ying Zhang
Keyword(s):  
Mechanical System ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Cross Coupling ◽  
Micro Electro Mechanical System ◽  
Stewart Platform ◽  
Forward Kinematics ◽  
Six Degrees Of Freedom ◽  
Position And Orientation ◽  
The Cross

The micro-electro-mechanical system (MEMS) dynamic inclinometer integrates a tri-axis gyroscope and a tri-axis accelerometer for real-time tilt measurement. The Stewart platform has the ability to generate six degrees of freedom of spatial orbits. The method of applying spatial orbits to the testing of MEMS inclinometers is investigated. Inverse and forward kinematics are analyzed for controlling and measuring the position and orientation of the Stewart platform. The Stewart platform is controlled to generate a conical motion, based on which the sensitivities of the gyroscope, accelerometer, and tilt sensing are determined. Spatial positional orbits are also generated in order to obtain the tilt angles caused by the cross-coupling influence. The experiment is conducted to show that the tested amplitude frequency deviations of the gyroscope and tilt sensing sensitivities between the Stewart platform and the traditional rotator are less than 0.2 dB and 0.1 dB, respectively.

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

2014 ◽  
Vol 8 (3) ◽  
pp. 452-459 ◽  
Author(s):  
Ryoya Kamata ◽  
◽  
Ryosuke Tamura ◽  
Satoshi Niitsu ◽  
Hiroshi Kawaharada ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Haptic Device ◽  
Prototype System ◽  
Assembly Operation ◽  
Six Degrees Of Freedom ◽  
Controlled Assembly ◽  
Sense Of Reality ◽  
Position And Orientation ◽  
Assembly Operations

This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.

Relative Motion Emulating Robotic System as a Test Bed for Aerial Refueling Using VISNAV and Mobile Stewart Platforms

2007 ◽  
Author(s):  
Changhwa Cho ◽  
John Junkins
Keyword(s):  
Relative Motion ◽  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Ground Level ◽  
Parallel Manipulators ◽  
Robotic System ◽  
Test Bed ◽  
Aerial Refueling ◽  
Six Degrees Of Freedom ◽  
Stewart Platforms

This paper describes a relative motion emulating robotic system (RMERS) which is made up with a vision navigation (VISNAV), a novel method for proximity navigation and mobile Stewart platforms, parallel manipulators to have six degrees of freedom. The RMERS is a ground-based test bed for aerial refueling and enables already simulated results to physically demonstrate their performance in a ground level. The scope of REMES can reach any relative dynamical system which requires experimental tests. This paper presents theoretical introduction prior to making REMES tangible in the lab. The VISNAV system and the kinematics and dynamics of the Stewart platform will be shortly introduced and dynamical mapping from aerial refueling to mobile Stewart platforms will be given. Finally, some numerical results are simulated.

Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators

2017 ◽  
Author(s):  
Chawin Ophaswongse ◽  
Rosemarie C. Murray ◽  
Sunil K. Agrawal
Keyword(s):  
Degrees Of Freedom ◽  
Human Subjects ◽  
Parallel Architecture ◽  
Six Degrees Of Freedom ◽  
In Series ◽  
Machine Interface ◽  
Position And Orientation ◽  
Human Usage ◽  
Series Elastic Actuators ◽  
Series Elastic

This paper proposes a novel methodology for the design of series elastic actuators in parallel-actuated platforms which have full six degrees-of-freedom in position and orientation. Series elastic actuators can potentially contribute to lower power consumption and provide a better human-machine interface for the user. This is an important consideration in the use of a robotic spine exoskeleton for human subjects, which motivates this work. In the study of parallel-actuated systems with full six degrees-of-freedom, the effect of compliance in series with actuators has not been adequately studied from the perspective of kinematics and wrench capabilities. These analyses are performed in this paper with the goal to improve the design of the robotic spine exoskeleton (ROSE) and its human usage.

scholarly journals Biomimetic six-axis robots replicate human cardiac papillary muscle motion: pioneering the next generation of biomechanical heart simulator technology

2020 ◽  
Vol 17 (173) ◽  
pp. 20200614
Author(s):  
Annabel M. Imbrie-Moore ◽  
Matthew H. Park ◽  
Michael J. Paulsen ◽  
Mark Sellke ◽  
Rohun Kulkami ◽  
...  
Keyword(s):  
Papillary Muscle ◽  
Degrees Of Freedom ◽  
Ex Vivo ◽  
Robotic System ◽  
Papillary Muscles ◽  
Chordae Tendineae ◽  
Six Degrees Of Freedom ◽  
Reachable Workspace ◽  
Computed Tomography Images ◽  
Force Profile

Papillary muscles serve as attachment points for chordae tendineae which anchor and position mitral valve leaflets for proper coaptation. As the ventricle contracts, the papillary muscles translate and rotate, impacting chordae and leaflet kinematics; this motion can be significantly affected in a diseased heart. In ex vivo heart simulation, an explanted valve is subjected to physiologic conditions and can be adapted to mimic a disease state, thus providing a valuable tool to quantitatively analyse biomechanics and optimize surgical valve repair. However, without the inclusion of papillary muscle motion, current simulators are limited in their ability to accurately replicate cardiac biomechanics. We developed and implemented image-guided papillary muscle (IPM) robots to mimic the precise motion of papillary muscles. The IPM robotic system was designed with six degrees of freedom to fully capture the native motion. Mathematical analysis was used to avoid singularity conditions, and a supercomputing cluster enabled the calculation of the system's reachable workspace. The IPM robots were implemented in our heart simulator with motion prescribed by high-resolution human computed tomography images, revealing that papillary muscle motion significantly impacts the chordae force profile. Our IPM robotic system represents a significant advancement for ex vivo simulation, enabling more reliable cardiac simulations and repair optimizations.

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