Manipulators

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Mo Jamshidi - One of the best experts on this subject based on the ideXlab platform.

  • teleoperation by using nonisomorphic mechanisms in the master slave configuration for speed control
    IEEE Systems Journal, 2018
    Co-Authors: Amit Shukla, Hamad Karki, Laxmidhar Behera, Mo Jamshidi
    Abstract:

    This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic Manipulators are used in one integrated system, with the purpose of usage in oil and gas industry in the future. Overall integration of the teleoperated system has been done in the master–slave configuration, where a stuart-type 6-DOF parallel manipulator is used as a master robot and a 6-DOF serial manipulator is used as a slave robot. Since the parallel manipulator has a closed-loop structure and serial manipulator is an open-loop structure, their work spaces are of completely different nature in terms of overall shape and size. A novel task-space mapping mechanism has been proposed in this work to integrate these two completely nonidentical Manipulators. Damped least-squares (DLS) method is used for overcoming the singularity of proposed task-space mapping matrix. This paper also presents detailed dynamic modeling of the parallel manipulator along with comprehensive analysis of proposed novel control technique. The biggest benefit of using proposed integration mechanism is the fullest access of the complete cartesian task spaces of both the master and slave Manipulators. This paper also proposes usage of lag compensator for the improved tracking performance. Multilevel control architecture with local actuator-space and joint-space controllers, for the parallel and serial Manipulators, respectively, has also been presented in this work.

  • Teleoperation by Using Nonisomorphic Mechanisms in the Master–Slave Configuration for Speed Control
    IEEE Systems Journal, 2018
    Co-Authors: Amit Shukla, Hamad Karki, Laxmidhar Behera, Mo Jamshidi
    Abstract:

    This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic Manipulators are used in one integrated system, with the purpose of usage in oil and gas industry in the future. Overall integration of the teleoperated system has been done in the master–slave configuration, where a stuart-type 6-DOF parallel manipulator is used as a master robot and a 6-DOF serial manipulator is used as a slave robot. Since the parallel manipulator has a closed-loop structure and serial manipulator is an open-loop structure, their work spaces are of completely different nature in terms of overall shape and size. A novel task-space mapping mechanism has been proposed in this work to integrate these two completely nonidentical Manipulators. Damped least-squares (DLS) method is used for overcoming the singularity of proposed task-space mapping matrix. This paper also presents detailed dynamic modeling of the parallel manipulator along with comprehensive analysis of proposed novel control technique. The biggest benefit of using proposed integration mechanism is the fullest access of the complete cartesian task spaces of both the master and slave Manipulators. This paper also proposes usage of lag compensator for the improved tracking performance. Multilevel control architecture with local actuator-space and joint-space controllers, for the parallel and serial Manipulators, respectively, has also been presented in this work.

Zaki Sleiman - One of the best experts on this subject based on the ideXlab platform.

  • Uterine manipulator in total laparoscopic hysterectomy: safety and usefulness
    Updates in Surgery, 2019
    Co-Authors: Yara Abdel Khalek, Roger Bitar, Costas Christoforou, Simone Garzon, Alessandro Tropea, Antonio Biondi, Zaki Sleiman
    Abstract:

    The aim of this review is to evaluate the effectiveness and safety of uterine Manipulators in facilitating total laparoscopic hysterectomy (TLH). A literature search in MEDLINE, EMBASE, Cochrane Library, UpToDate, SpringerLink, ClinicalKey and Elsevier ScienceDirect databases was performed, and articles describing TLH with or without the use of uterine Manipulators were retrieved. Complications related to the use of uterine Manipulators are numerous, and although uterine manipulator seems to facilitate TLH, the procedure without a uterine manipulator seems to have a comparable safety and effectiveness, although evidence based on a direct comparison of the two approaches is limited without available controlled trials. Uterine manipulator may provide support in cases of large uteri, severe endometriosis, recto vaginal adhesions and regional anesthesia, while its use may increase complications in cases of vaginal stenosis and nulliparity. Therefore, to perform TLH, the surgeon should individualize for each case if uterine manipulator is needed and which manipulator best suits the surgical procedure requirements and case characteristics. Further studies comparing the two approaches are mandatory.

  • Uterine manipulator in total laparoscopic hysterectomy: safety and usefulness
    Updates in Surgery, 2019
    Co-Authors: Yara Abdel Khalek, Roger Bitar, Costas Christoforou, Simone Garzon, Alessandro Tropea, Antonio Biondi, Zaki Sleiman
    Abstract:

    The aim of this review is to evaluate the effectiveness and safety of uterine Manipulators in facilitating total laparoscopic hysterectomy (TLH). A literature search in MEDLINE, EMBASE, Cochrane Library, UpToDate, SpringerLink, ClinicalKey and Elsevier ScienceDirect databases was performed, and articles describing TLH with or without the use of uterine Manipulators were retrieved. Complications related to the use of uterine Manipulators are numerous, and although uterine manipulator seems to facilitate TLH, the procedure without a uterine manipulator seems to have a comparable safety and effectiveness, although evidence based on a direct comparison of the two approaches is limited without available controlled trials. Uterine manipulator may provide support in cases of large uteri, severe endometriosis, recto vaginal adhesions and regional anesthesia, while its use may increase complications in cases of vaginal stenosis and nulliparity. Therefore, to perform TLH, the surgeon should individualize for each case if uterine manipulator is needed and which manipulator best suits the surgical procedure requirements and case characteristics. Further studies comparing the two approaches are mandatory.

Amit Shukla - One of the best experts on this subject based on the ideXlab platform.

  • teleoperation by using nonisomorphic mechanisms in the master slave configuration for speed control
    IEEE Systems Journal, 2018
    Co-Authors: Amit Shukla, Hamad Karki, Laxmidhar Behera, Mo Jamshidi
    Abstract:

    This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic Manipulators are used in one integrated system, with the purpose of usage in oil and gas industry in the future. Overall integration of the teleoperated system has been done in the master–slave configuration, where a stuart-type 6-DOF parallel manipulator is used as a master robot and a 6-DOF serial manipulator is used as a slave robot. Since the parallel manipulator has a closed-loop structure and serial manipulator is an open-loop structure, their work spaces are of completely different nature in terms of overall shape and size. A novel task-space mapping mechanism has been proposed in this work to integrate these two completely nonidentical Manipulators. Damped least-squares (DLS) method is used for overcoming the singularity of proposed task-space mapping matrix. This paper also presents detailed dynamic modeling of the parallel manipulator along with comprehensive analysis of proposed novel control technique. The biggest benefit of using proposed integration mechanism is the fullest access of the complete cartesian task spaces of both the master and slave Manipulators. This paper also proposes usage of lag compensator for the improved tracking performance. Multilevel control architecture with local actuator-space and joint-space controllers, for the parallel and serial Manipulators, respectively, has also been presented in this work.

  • Teleoperation by Using Nonisomorphic Mechanisms in the Master–Slave Configuration for Speed Control
    IEEE Systems Journal, 2018
    Co-Authors: Amit Shukla, Hamad Karki, Laxmidhar Behera, Mo Jamshidi
    Abstract:

    This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic Manipulators are used in one integrated system, with the purpose of usage in oil and gas industry in the future. Overall integration of the teleoperated system has been done in the master–slave configuration, where a stuart-type 6-DOF parallel manipulator is used as a master robot and a 6-DOF serial manipulator is used as a slave robot. Since the parallel manipulator has a closed-loop structure and serial manipulator is an open-loop structure, their work spaces are of completely different nature in terms of overall shape and size. A novel task-space mapping mechanism has been proposed in this work to integrate these two completely nonidentical Manipulators. Damped least-squares (DLS) method is used for overcoming the singularity of proposed task-space mapping matrix. This paper also presents detailed dynamic modeling of the parallel manipulator along with comprehensive analysis of proposed novel control technique. The biggest benefit of using proposed integration mechanism is the fullest access of the complete cartesian task spaces of both the master and slave Manipulators. This paper also proposes usage of lag compensator for the improved tracking performance. Multilevel control architecture with local actuator-space and joint-space controllers, for the parallel and serial Manipulators, respectively, has also been presented in this work.

Li Jiang - One of the best experts on this subject based on the ideXlab platform.

Clément Gosselin - One of the best experts on this subject based on the ideXlab platform.

  • Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators
    Journal of Mechanical Design, 2008
    Co-Authors: Xianwen Kong, Clément Gosselin
    Abstract:

    A six-DOF wrist-partitioned parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of the moving platform. Such parallel Manipulators are, in fact, the parallel counterparts of the wrist-partitioned serial Manipulators, which are widely used in industry. Unlike parallel Manipulators of a general structure, a six-DOF wrist-partitioned parallel manipulator usually has simple kinematic characteristics such as its forward displacement analysis and singularity analysis are easy to solve. This paper deals with the type synthesis of six-DOF wrist-partitioned parallel Manipulators. An approach is first proposed for the type synthesis of this class of parallel Manipulators. Using the proposed approach, six-DOF wrist-partitioned parallel Manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel Manipulators. A large number of six-DOF wrist-partitioned parallel Manipulators are then obtained, and several types of practical relevance are also identified.

  • Type Synthesis of Three-Degree-of-Freedom Spherical Parallel Manipulators
    The International Journal of Robotics Research, 2004
    Co-Authors: Xianwen Kong, Clément Gosselin
    Abstract:

    A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegreeof-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel Manipulators. In a non-overconstrained three-legged spherical parallel manipulator, each leg is composed of five revolute, prismatic and/or helical joints. Using the proposed approach, non-overconstrained three-legged spherical parallel Manipulators can be obtained by the combination of a 3-RRR overconstrained spherical parallel manipulator and three four-bar Delassus linkages with at least one revolute joint. In a 3-RRR spherical parallel manipulator, each leg is composed of three revolute joints whose axes pass through the center of spherical motion. A four-bar Delassus linkage is a single-DoF four-bar linkage compo...

  • Inverse kinematic functions for approach and catching operations
    IEEE Transactions on Systems Man and Cybernetics, 1993
    Co-Authors: Clément Gosselin, Jean Cote, Denis Laurendeau
    Abstract:

    The paper proposes an approach to obtain inverse kinematic functions whose domain is not limited to the manipulator's workspace. As a result, these functions can be used to map points of the Cartesian space that do not belong to the manipulator's workspace. The positioning problem is formulated as a minimization of the distance between the prescribed Cartesian point and the end-effector. Hence, points outside of the workspace of the manipulator are mapped by the inverse kinematic function into joint coordinates that bring the manipulator as close as possible to the prescribed Cartesian location. The formulation is derived for both planar and spatial motion and an extension to problems where the orientation has to be considered is also given. Examples pertaining to 2-DOF and 3-DOF Manipulators are solved and both analytical and numerical results are given. The proposed inverse kinematic functions are of great interest for tracking approach and catching operations where the object to be reached or tracked by the manipulator can be outside of the workspace,. >

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