Now showing items 31-35 of 35
Control of teleoperation systems operating under communication line failures
Abstract While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take ...
General subtask controller for redundant robot manipulators
This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask ...
Design of a haptic device for teleoperation and virtual reality systems
Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending ...
Static force balancing of a 2R1T parallel manipulator with remote center of motion
Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...
Alternating error effects on decomposition method in function generation synthesis
In approximate function generation synthesis methods, error between the desired function’s output and designed mechanism’s output oscillate about zero error while crossing the zero error margin at precision points. The ...