Now showing items 1-6 of 6
Self-motion control of kinematically redundant robot manipulators
(Izmir Institute of Technology, 2012)
Redundancy in general provides space for optimization in robotics. Redundancy can be defined as sensor/actuator redundancy or kinematic redundancy. The redundancy considered in this thesis is the kinematic redundancy where ...
Experimental verification of quasi-static equilibrium analysis of a haptic device
(Azerbaijan Committee of International Federation for the Pomotion of Mechanism and Machine Science, 2017)
HIPHAD v1.0 is a kinesthetic haptic device which was designed and manufactured in IzTech Robotics Laboratory. In this work, the quasi-static equilibrium analysis is carried out by including the gravitational effects. The ...
Analytical dynamic analysis of a kinesthetic haptic device
(Dokuz Eylul University-Faculty of Engineering, 2018-05)
A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, ...
Physical human-robot interaction: Increasing safety by robot arm’s posture optimization
To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important ...
Unilateral teleoperation design for a robotic endoscopic pituitary surgery system
The aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation ...
A comparative study on application of decomposition method in function generation synthesis of over-constrained mechanisms
Double-spherical six-bar linkage is one of the Bennett over-constrained 6R linkages. Kinematic synthesis of such linkages can be tedious and impossible to solve for analytically. In order to cope with higher number of ...