WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification

Zhang, Dandan; Cursi, Francesco; Yang, Guang‐Zhong

doi:10.1109/lra.2019.2929986

Cited by 14 publications

(12 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The manipulability ellipsoid is defined as the set of joint velocities such that qT q ≤ 1, which from the solution of ( 8), leads to ḣT (JJ T ) −1 ḣ ≤ 1. Different measures exist to assess the dexterity of a robot, as reported in [40]. This derivation, however, applies only if one single subtask is specified and does not consider joint limits.…”

Section: Table I Ga Properties and Their Assigned Valuesmentioning

confidence: 99%

Optimization of Surgical Robotic Instrument Mounting in a Macro–Micro Manipulator Setup for Improving Task Execution

et al. 2022

Self Cite

View full text Add to dashboard Cite

In minimally invasive robotic surgery, the surgical instrument is usually inserted inside the patient's body through a small incision, which acts as a remote center of motion (RCM). Serial-link manipulators can be used as macro robots on which microsurgical robotic instruments are mounted to increase the number of degrees of freedom of the system and ensure safe task and RCM motion execution. However, the surgical instrument needs to be placed in an appropriate configuration when completing the motion tasks. The contribution of this article is to present a novel framework that preoperatively identifies the best base configuration, in terms of Roll, Pitch, and Yaw angles, of the microsurgical instrument with respect to the macro serial-link manipulator's end effector in order to achieve the maximum accuracy and dexterity in performing specified tasks. The framework relies on hierarchical quadratic programming for the control, genetic algorithm for the optimization, and on a resilience to error strategy to make sure deviations from the optimum do not affect the system's performance. Simulation results show that the mounting configuration of the surgical instrument significantly impacts the performance of the whole macro-micro manipulator in executing the desired motion tasks, and both the simulation and experimental results demonstrate that the proposed optimization method improves the overall performance.

show abstract

Section: Table I Ga Properties and Their Assigned Valuesmentioning

confidence: 99%

Optimization of Surgical Robotic Instrument Mounting in a Macro–Micro Manipulator Setup for Improving Task Execution

et al. 2022

Self Cite

View full text Add to dashboard Cite

show abstract

“…One typical approach to measure the capabilities of a robotic system is the dexterity. There exist various dexterity indices [21] in the literature, but they are mainly derived from the manipulability ellipsoid. An ellipsoid is defined by a core matrix H as z T (H) −1 z ≤ 1 and the singular values of the core matrix H equal the square of the semiaxes' length of the ellipsoid, whereas its determinant can be shown to be proportional to the ellipsoid volume.…”

Section: B Robot Manipulabiltymentioning

confidence: 99%

“…The dexterous workspace (WS) is a subset of the reachable WS, which is the set of Cartesian points that the robot can reach. In order to generate it, Monte Carlo sampling is used, randomly choosing different joint values [21]. The number of samples N s for generating the reachable workspace is userdefined.…”

Section: B Single Arm Optimizationmentioning

confidence: 99%

GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design

et al. 2022

Self Cite

View full text Add to dashboard Cite

“…In order to generate the data, the robot kinematic models are built by assigning some desired DH parameters (Table Ia and Ib). As proposed in [18], [19] for workspace generation, all joint combinations are computed, considering that each joint can have two states: fixed or moving. In total, 2 n − 1 combinations are obtained.…”

Section: A Simulated Dh Parameters Optimizationmentioning

confidence: 99%

Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration

Cursi

Bai

Kormushev

2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

Robot modelling is an essential part to properly understand how a robotic system moves and how to control it. The kinematic model of a robot is usually obtained by using Denavit-Hartenberg convention, which relies on a set of parameters to describe the end-effector pose in a Cartesian space. These parameters are assigned based on geometrical considerations of the robotic structure, however, the assigned values may be inaccurate. The purpose of robot kinematic calibration is therefore to find optimal parameters which improve the accuracy of the robot model. In this work we present Kalibrot, an open source Matlab package for robot kinematic calibration. Kalibrot has been designed to simplify robot calibration and easily assess the calibration results. Beside computing the optimal parameters, Kalibrot provides a visualization layer showing the values of the calibrated parameters, what parameters can be identified, and the calibrated robotic structure. The capabilities of the package are here shown through simulated and real world experiments.CONFIDENTIAL. Limited circulation. For review only.

show abstract

WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification

Cited by 14 publications

References 38 publications

Optimization of Surgical Robotic Instrument Mounting in a Macro–Micro Manipulator Setup for Improving Task Execution

Optimization of Surgical Robotic Instrument Mounting in a Macro–Micro Manipulator Setup for Improving Task Execution

GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design

Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration

Contact Info

Product

Resources

About