Introduced in R2020b expand all R2024b: Specify multiple workspace goal regions R2023b: Specify each body pair to skip for self-collision checking R2023b: Improved Performance of Object Functions R2023a: Specify environments using 3-D occupancy maps R2022b: Alter rigid body tree self-collision ...
Combining the advantages of sliding-mode control (SMC) and backstepping methodology,Ma et al. (2006)presented a controller design that used networks ofGaussianradial basis functionswith variable weights to compensate the model uncertainties. While SMC ensures robustness in the presence of model uncertain...
PROBLEM TO BE SOLVED: To attain human engineering improvement by providing the plural degrees of freedom for adjustment settable for an operating means in relation to the designated operating function concerning a manipulator for designating the various operating functions through a voice manipulator to ...
Not all algorithms are presently supported in block format. However, as long as they support code generation, they can still be easily integrated into Simulink. The best practice is to use MATLAB Function blocks containing functions that supports code generation. By implementing the function i...
When planning the motion between nodes in the tree, a set of configurations are generated and validated. This computation time of the planner is proportional to the number of configurations generated. The number of configurations between nodes is controlled by the ratio of theMaxConnectionDistanceand...
An aerial manipulator consisting of a quadcopter with an access-operation decoupled drive arm (ADD-Arm) for perching, knob-twisting, and door-pushing functions is presented in89. A quadcopter based on the MK-Quadro MikroKopter platform endowed with a rigid tool to exert a prescribed 3D force ...
As shown in FIG. 1, the manipulation input device 100 includes a master input section 200 and the control unit 400 (interlock control unit). The master input section 200 functions as a master that delivers an operation from the operator Op to the slave manipulator 300. The master input sect...
member2in the form of a spherical shell. The micro-hand3has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as forming a hole in a minute object or cutting it. The micro-hand3is placed near ...
transmits these movements directly to an identical unit in terms of form and function, which can be pushed through narrow channels, such as the trocars of modern minimal invasive surgery into the site of operation, where it functions in the same way as a hand and is simultaneously ...
Robotic tools have been developed to further improve the minimally invasive surgical process. These tools are highly specialized. They must perform the function that a surgeon would perform in a miniaturized manner. Surgeons perform many different functions on internal organs such as cutting, scraping,...