The Experts below are selected from a list of 90 Experts worldwide ranked by ideXlab platform
Tanneguy Redarce - One of the best experts on this subject based on the ideXlab platform.
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A new design for the BirthSIM simulator to improve realism
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014Co-Authors: Nicolas Herzig, Richard Moreau, Tanneguy RedarceAbstract:This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and Inverse Geometric Models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The Inverse Geometric Model allows to compute the actuators displacements and thus to validate the chosen components.
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EMBC - A new design for the BirthSIM simulator to improve realism
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Inte, 2014Co-Authors: Nicolas Herzig, Richard Moreau, Tanneguy RedarceAbstract:This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and Inverse Geometric Models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The Inverse Geometric Model allows to compute the actuators displacements and thus to validate the chosen components.
E Dombre - One of the best experts on this subject based on the ideXlab platform.
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Modeling, Identification and Control of Robots - Chapter 8 – Introduction to Geometric and kinematic Modeling of parallel robots
Modeling Identification and Control of Robots, 2002Co-Authors: W Khalil, E DombreAbstract:This chapter presents the Geometric and kinematic Models of Gough-Stewart structures, which are considered to be representative of parallel robots. It also highlights that the techniques developed for serial robots are often not appropriate and special approaches have to be used. The Inverse Geometric Model (IGM) and Inverse kinematic Model (IKM) are simple and straightforward to derive. On the contrary, the analytical direct Geometric Model (DGM) is not easy to compute in the general case since 40 solutions are possible. It is observed that merging some of the connection points on the platform or the base or both, by groups of two or three, simplifies the closed-form solution of the problem and also reduces the maximum number of possible solutions. In addition, the numerical solution of the DGM can be used in most practical applications where only one real solution is required provided that a good initial location is available.
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chapter 4 Inverse Geometric Model of serial robots
Modeling Identification and Control of Robots, 2002Co-Authors: W Khalil, E DombreAbstract:The problem of computing the joint variables corresponding to a specified location of the end-effector is called the Inverse Geometric problem. This problem is at the center of computer control algorithms for robots. It has in general a multiple solution and its complexity is highly dependent on the geometry of the robot. The Model that gives all the possible solutions for this problem is called the Inverse Geometric Model (IGM). This chapter presents three methods to obtain the IGM of serial robots. First, the Paul method, which can be used to obtain an explicit solution for robots with relatively simple geometry that have many zero distances and parallel or perpendicular joint axes. Then, a variation on the Pieper method is developed, which provides the analytical solution for the IGM of six degree-of-freedom robots with three prismatic joints or three revolute joints whose axes intersect at a point. Finally, the Raghavan-Roth method is exposed, which gives the IGM for six degree-of-freedom robots with general geometry using, at most, a sixteen degree polynomial. When the Inverse Geometric Model cannot be obtained or if it is difficult to implement in real time applications, iterative numerical techniques can be used. For this purpose, several algorithms can be found in the literature. Most of these algorithms use either the Newton-Raphson-based method, or Inverse Jacobian-based methods.
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Modeling, Identification and Control of Robots - Chapter 4 – Inverse Geometric Model of serial robots
Modeling Identification and Control of Robots, 2002Co-Authors: W Khalil, E DombreAbstract:The problem of computing the joint variables corresponding to a specified location of the end-effector is called the Inverse Geometric problem. This problem is at the center of computer control algorithms for robots. It has in general a multiple solution and its complexity is highly dependent on the geometry of the robot. The Model that gives all the possible solutions for this problem is called the Inverse Geometric Model (IGM). This chapter presents three methods to obtain the IGM of serial robots. First, the Paul method, which can be used to obtain an explicit solution for robots with relatively simple geometry that have many zero distances and parallel or perpendicular joint axes. Then, a variation on the Pieper method is developed, which provides the analytical solution for the IGM of six degree-of-freedom robots with three prismatic joints or three revolute joints whose axes intersect at a point. Finally, the Raghavan-Roth method is exposed, which gives the IGM for six degree-of-freedom robots with general geometry using, at most, a sixteen degree polynomial. When the Inverse Geometric Model cannot be obtained or if it is difficult to implement in real time applications, iterative numerical techniques can be used. For this purpose, several algorithms can be found in the literature. Most of these algorithms use either the Newton-Raphson-based method, or Inverse Jacobian-based methods.
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Modeling, Identification and Control of Robots - Chapter 7 – Geometric and kinematic Models of complex chain robots
Modeling Identification and Control of Robots, 2002Co-Authors: W Khalil, E DombreAbstract:The method of description presented in this chapter allows extension of the results obtained for serial robots to complex chain robots. In fact, a serial robot can be considered as a special case of a tree structured robot. This chapter shows that the computation of the direct and Inverse Geometric Models of a closed chain robot could be formulated as the calculation of these Models for a serial structure together with the resolution of the Geometric constraint equations of the closure of the loops. The Geometric constraint equations of the loops can be solved using the methods for computing the Inverse Geometric Model IGM. This chapter presents a general analytical method for loops with less than four passive joints and describes how to establish the kinematic Model of such structures to obtain the kinematic constraint equations using the Jacobian matrix. The problem of the determination of the number of degrees of freedom of a closed chain robot is also addressed.
Zoubir Ahmed-foitih - One of the best experts on this subject based on the ideXlab platform.
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Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot
Procedia - Social and Behavioral Sciences, 2015Co-Authors: Kamel Bouzgou, Zoubir Ahmed-foitihAbstract:Abstract In this paper, we propose a study of criteria for choosing the best solution among the solutions of the Inverse Geometric Model of the 6 DOF robot arm, FANUC 200iC Lr Mate. Knowledge of these parameters can help us the control and the generation of motions without that the task will be redundant with a minimization of the execution time, the effort and energy consumed by actuators. For this, the solving of the Inverse kinematics by an analytical method is necessary, and the Jacobian matrix give us the nonlinear equation for find the singular configurations. We validate our work by conducting a simulation software platform that allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD Model.
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4th WORLD CONFERENCE ON EDUCATIONAL TECHNOLOGY RESEARCHES, Workspace analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot
2015Co-Authors: Kamel Bouzgou, Zoubir Ahmed-foitihAbstract:Abstract In this paper, we propose a study of criteria for choosing the best solution among the solutions of the Inverse Geometric Model of the 6 DOF robot arm, FANUC 200iC Lr Mate. Knowledge of these parameters can help us the control and the generation of motions without that the task will be redundant with a minimization of the execution time, the effort and energy consumed by actuators. For this, the solving of the Inverse kinematics by an analytical method is necessary, and the Jacobian matrix give us the nonlinear equation for find the singular configurations We validate our work by conducting a simulation software platform that .allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD Model. © 2015 The Authors. Published by Elsevier Ltd. Peer-review under responsibility of Academic World Research and Education Center. Keywords: Forward Geometric Model, Inverse kinematic Model, Singularity, Jacobian matrix, 6 DOF manipulator arms, Workspace, VRML, Matlab
Andrés Enríquezźcobo - One of the best experts on this subject based on the ideXlab platform.
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Inverse Models and robust parametric-step neuro-control of a Humanoid Robot
Neurocomputing, 2017Co-Authors: Alejandro J. Maloźtamayo, Pablo Veraźbustamante, Jéssica Jazmín Maldonado Ramos, Andrés EnríquezźcoboAbstract:In this paper we present advances on the work done on the development of the AH1N2 humanoid robot at the Automatic Control Department of the Cinvestav. The Geometric Model of the AH1N2 humanoid robot is defined by kinematic open chains, head, arms, waist and legs, attached to the robot body. We center our work in the Inverse Geometric Model, since from all the Models used in robotics, is the most difficult to automate. Its knowledge is needed to control the robot position and attitude in the workspace. We present derivations of the Inverse Geometric Models for the arm and the legs. We also study, in this work, the singularities of the arms and legs because they affect its control in the workspace. We also present the use of kinematic Model to built movement constraints that allow us the control of the motion control and specify complex movements. Finally, we use the dynamic Models to calculate a Neuro proportional-derivative control and to simulate the robot movement in presence of a destabilising perturbations. The neural network is trained to compensate the effect of gravity.
Nicolas Herzig - One of the best experts on this subject based on the ideXlab platform.
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A new design for the BirthSIM simulator to improve realism
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014Co-Authors: Nicolas Herzig, Richard Moreau, Tanneguy RedarceAbstract:This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and Inverse Geometric Models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The Inverse Geometric Model allows to compute the actuators displacements and thus to validate the chosen components.
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EMBC - A new design for the BirthSIM simulator to improve realism
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Inte, 2014Co-Authors: Nicolas Herzig, Richard Moreau, Tanneguy RedarceAbstract:This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and Inverse Geometric Models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The Inverse Geometric Model allows to compute the actuators displacements and thus to validate the chosen components.
