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As one of the essential technologies to realize a demining robot,which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave ...
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As one of the essential technologies to realize a demining robot,which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave arm system coined as "shape-feedback" master -slave arm. Feature mechanism of "Shape-feedback" master and slave arm is the articulated to have same angle with slave finger joints, which bend with compliance. Addition of these finger joints under unilateral control on to the gripper with conventional bilateral servo control, it is expected to improve the performance of master-slave arm. We demonstrated the validity of the "shape-feedback" master and slave arm by the basic operation experiments and experiments using the model of demining robot.
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摘要 :
As one of the essential technologies to realize a demining robot, which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave...
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As one of the essential technologies to realize a demining robot, which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave arm system coined as "shape-feedback" master-slave arm. Feature mechanism of "shape-feedback" master and slave arm is the articulated finger joints located in the middle of master and slave fingers and their unilateral control to drive master finger joints to have same angle with slave finger joints, which bend with compliance. Addition of these finger joints under unilateral control on to the gripper with conventional bilateral servo control, it is expected to improve the performance of master-slave arm. We demonstrated the validity of the "shape-feedback" master and slave arm by the basic operation experiments and experiments using the model of demining robot.
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For decades, humans have used robots to overcome their natural limitations in their interaction with their environment. In recent years, robots have been developed to assist surgeons in performing surgeries. Since these robots are...
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For decades, humans have used robots to overcome their natural limitations in their interaction with their environment. In recent years, robots have been developed to assist surgeons in performing surgeries. Since these robots are meant for surgeons' use, the design and considerations for safety, reliability and the human-robot interface are of primary importance. One of the most common modes of controlling surgical robots is using a master and slave layout. This paper explores the latest developments in the area of master-slave robotic systems for surgery.
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This paper introduces a modified master-slave synchronization scheme for dynamical systems. In contrast to the standard configuration, the slave system does not receive any driving signal from the master, but rather the interactio...
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This paper introduces a modified master-slave synchronization scheme for dynamical systems. In contrast to the standard configuration, the slave system does not receive any driving signal from the master, but rather the interaction is through a linear dynamical system. The key feature of the proposed coupling scheme is that it induces synchronization in certain systems that cannot be synchronized when using the classical static interconnection. Likewise, the dynamic coupling achieves synchronization for arbitrarily large coupling strength values in certain systems for which the classical configuration is applicable only within a narrow interval of coupling strength values. The performance of the synchronization scheme is illustrated in pairs of identical chaotic and mechanical oscillators.
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Use of the DC/AC inverter is a necessity for a majority of small residential PV-systems. apart from the efforts of making the devices more efficient, their proper choice and configuration may further improve the performance of the...
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Use of the DC/AC inverter is a necessity for a majority of small residential PV-systems. apart from the efforts of making the devices more efficient, their proper choice and configuration may further improve the performance of the PV-system. This paper presents the idea for optimization of a master-slave inverter by setting the P_on and P_off parameters. The method is illustrated by results from the PV-system in Melle, in Belgium.
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The over 100 million landmines and unexploded ordnance (UXO) are buried in disaster-affected countries. Although significant efforts have been made at addressing this problem, few have resulted in practical removal tools, especial...
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The over 100 million landmines and unexploded ordnance (UXO) are buried in disaster-affected countries. Although significant efforts have been made at addressing this problem, few have resulted in practical removal tools, especially in the hazardous, yet essential, LV-3 survey. We propose a mechanical master-slave hand to remove landmines and UXOs. At first, we have made a test model (Mine Hand-1) that features symmetric operation. But the consultation with expert deminers from Afghanistan suggested the need for a lightweight and simple design. The improved model, Mine Hand-2, is l/6th the weight, easily carried, and simpler to maintain. Through blasting experiments, which show that the Mine Hand-2 is robust for average landmines, this model is estimated to be practical.
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Background: Microsurgery is a widely performed process in neurosurgery. However, it is difficult for surgeons because manipulating small and long instruments under a microscope often restricts dexterity. Hand tremors are also an i...
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Background: Microsurgery is a widely performed process in neurosurgery. However, it is difficult for surgeons because manipulating small and long instruments under a microscope often restricts dexterity. Hand tremors are also an issue, as the accuracy required for microsurgery is very high. Method: A master-slave robotic platform has been developed for neurosurgery. A position-orientation decoupled design was employed to enhance positioning accuracy, and a smooth trajectory generation method was developed. Result: The robotic tasks exhibited improved positioning accuracy compared to manual tasks. Anastomoses of 0.3 and 0.5 mm artificial vessels were successfully performed in end-to-end and end-to-side fashion. Conclusion: With the robotic platform, the surgeon was able to perform a fine and complex task, which is very difficult with manual operation. The robotic system showed sufficient accuracy and dexterity, but with a longer task completion time. Further improvement of the dexterity and user interface is expected to realize better performance.
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The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) gene...
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The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.
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A single controller for synchronization of two Lorenz systems is obtained by using Lyapu-nov function. Numerical results are given for the all three cases with one controller in eachequation. Controller contains two or three varia...
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A single controller for synchronization of two Lorenz systems is obtained by using Lyapu-nov function. Numerical results are given for the all three cases with one controller in eachequation. Controller contains two or three variables of the master system.
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In order to make the manipulators useful, some force-feedback is required to enable the operator to sense the robot's feelings. Without force-feedback, many task will not be able to be carried out. For these rea- sons, a master-sl...
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In order to make the manipulators useful, some force-feedback is required to enable the operator to sense the robot's feelings. Without force-feedback, many task will not be able to be carried out. For these rea- sons, a master-slave system with different kinematics has been developed. The system permits us to vary the ra- tio of the position/attitude, to design a master manipulator without considering the kinematics of the slave ma- nipulator, and so on. To overcome the difficulties, a master-slave manipulator system with different kinematics is proposed.
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