By pulling the cables, the continuum robot assumes the shape of an arc of a circle in 3D space. In the literature, forward kinematics of the robot has been developed using differential geometry of 3D curves. In this paper, we show that forward kinematics can also be obtained by discretizing...
Cable-driven soft continuum robots are important tools in minimally invasive surgery (MIS) to reduce the lesions, pain and risk of infection. The feasibility of employing deep reinforcement learning (DRL) for controlling cable-driven continuum robots has
[1]. Simple structure, large working space, low power consumption, low cost of pre-manufacturing and post-maintenance are the advantages of CDCRs in comparison with other continuum robots. Therefore, CDCRs are widely used in continuum robot arms [2], multi-finger dexterous hands [3], ...
necessarytopreoperativemotionplanningandnavigationforacontinuumrobot. Methods:Acable‐drivencontinuumrobotisproposed,andthemappingrelation- shipamongthedrivenspace,jointspaceandtaskspace,aswellasthedecoupling algorithmareanalyzedbasedonpiecewiseconstantcurvatureassumption.Moreover, anavigationmethodispresentedtoachievesemi‐...
University of Shanghai for Science and Technology Researchers Describe Advances in Robotics (QPSO-MPC based tracking algorithm for cable-driven continuum robots... - 《Robotics & Machine Learning Daily News》 被引量: 0发表: 2022年来源期刊 Robotics & Machine Learning Daily News 站内活动 ...
Examples of CDPR applications: (a) NIST RoboCrane [33], (b) FALCON ultrahigh speed robot [34], (c) SkyCam video recorder system [35], (d) Sophia-3 string-operated planar haptic interface for arm rehabilitation [7], (e) FAST large-scale radio spherical telescope [36], (f) Arecibo la...
This report describes continuing development of a novel compact surgical assistant robot to control the orientation and insertion depth of a laparoscopic endoscope during abdomenal surgery. The steril PJ Berkelman,P Cinquin,J Troccaz,... - International Conference on Medical Image Computing & Computer...
The main purpose of this paper is to create a mechanism that can automatically gather and loosen the power line on the mobile cleaning robot. A single-chip... MC Chiu,LJ Yeh,CC Shih - 《Journal of Information & Optimization Sciences》 被引量: 6发表: 2010年 Dimension optimization design of...
Due to the requirement of having a system conformal to the human back anatomy and unobtrusive for the natural movements, the proposed robotleverages a hyperredundant continuum structure that is able to continuously bend[58,59], as shown inFig. 1.15A. ...
When applied to robot joints, this mechanism will facilitate safe human–machine interaction. The rest of the paper is structured as follows. Section 2 proposes the cable-driven rigid–flexible coupling parallel mechanism (RFCPM). The mobility, working process, and kinematics of the proposed ...