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Encyclopedia of Systems and Control, 2014
Yan Jin, Hélène Chanal, Flavien Paccot
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Yan Jin, Hélène Chanal, Flavien Paccot
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Parallelism in Autonomous Robotic Surgery
IEEE Robotics and Automation Letters, 2021Robots can perform multiple tasks in parallel. This work is about leveraging this capability in automating multilateral surgical subtasks. In particular, we explore, in a simulation study, the benefits of considering this parallelism capability in developing execution models for autonomous robotic surgery.
Alaa Eldin Abdelaal +4 more
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Journal of Robotic Systems, 1991
AbstractThis paper presents two parallel robots that have been recently designed. The first one is a 3‐degree‐of‐freedom lightweight robot called DELTA and designed in Switzerland by EPFL. We give here the equations corresponding to different models of this robot: forward and inverse kinematics as well as inverse dynamics.
François Pierrot +2 more
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AbstractThis paper presents two parallel robots that have been recently designed. The first one is a 3‐degree‐of‐freedom lightweight robot called DELTA and designed in Switzerland by EPFL. We give here the equations corresponding to different models of this robot: forward and inverse kinematics as well as inverse dynamics.
François Pierrot +2 more
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Journal of Mechanisms and Robotics, 2020
Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this performance of the single-platform parallel robots (SPPRs) has long been concerned and studied.
Qizhi Meng, Fugui Xie, Xin-Jun Liu
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Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this performance of the single-platform parallel robots (SPPRs) has long been concerned and studied.
Qizhi Meng, Fugui Xie, Xin-Jun Liu
exaly +2 more sources
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
This paper presents a novel mobile parallel robot carries out welding and machining processes in assembly and repair of vacuum vessel (VV) of reactor (ITER). The kinematics of the robot has been optimized for the ITER's access. The kinematics analysis of the robot construction is given in the paper and the welding and machining experiments are ...
Huapeng Wu, Pekka Pessi, Heikki Handroos
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This paper presents a novel mobile parallel robot carries out welding and machining processes in assembly and repair of vacuum vessel (VV) of reactor (ITER). The kinematics of the robot has been optimized for the ITER's access. The kinematics analysis of the robot construction is given in the paper and the welding and machining experiments are ...
Huapeng Wu, Pekka Pessi, Heikki Handroos
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Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis
, 2021The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages,
Sven Lilge +4 more
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Mechanics of turin parallel robot
Mechanism and Machine Theory, 1997zbMATH Open Web Interface contents unavailable due to conflicting licenses.
SORLI, Massimo +4 more
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Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory
IEEE Transactions on robotics, 2020In current robot calibration approaches, the error propagation and identification of serial and parallel robots fail to be solved intuitively and generically, resulting in an inefficient calibration implementation and a low accuracy improvement.
T. Sun +3 more
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IEEE Transactions on Cybernetics, 2020
Parallel robots are usually required to perform real-time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-time tracking ...
Dechao Chen, Shuai Li, F. Lin, Qing Wu
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Parallel robots are usually required to perform real-time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-time tracking ...
Dechao Chen, Shuai Li, F. Lin, Qing Wu
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Adaptive Cross-Coupled Control of Cable-Driven Parallel Robots With Model Uncertainties
IEEE Robotics and Automation Letters, 2020Cable-driven parallel robots (CDPRs) are robots with novel structures, wherein flexible cables, instead of rigid links, are employed to pull mobile platforms.
Weiwei Shang +4 more
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