Topology design of surgical reconfigurable robots by interval analysis

Abstract : An automated design generation algorithm for a serial kinematic chain is presented for the reconfigurable robot used in a novel endoluminal surgical procedure (European Union project ARES). The algorithm produces the possible topologies, given the design constraints, desired performance, and available modules, such that all constraints are satisfied for every point in the desired workspace. This is achieved through the use of interval analysis methods and branch-and-bound loop that searches through the end-effector pose and the design parameter spaces. The resulting algorithm is demonstrated through an example of a serial chain manipulator made of the reconfigurable modules of the surgical robot for the application. The results are presented and discussed.
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan. IEEE, pp.3085--3090, 2009, Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 〈10.1109/ROBOT.2009.5152407〉
Liste complète des métadonnées

https://hal.inria.fr/hal-00987475
Contributeur : David Daney <>
Soumis le : mardi 6 mai 2014 - 12:01:31
Dernière modification le : samedi 27 janvier 2018 - 01:30:50

Lien texte intégral

Identifiants

Collections

Citation

Denny Oetomo, David Daney, Kanako Harada, Jean-Pierre Merlet, Arianna Menciassi, et al.. Topology design of surgical reconfigurable robots by interval analysis. IEEE International Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan. IEEE, pp.3085--3090, 2009, Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 〈10.1109/ROBOT.2009.5152407〉. 〈hal-00987475〉

Partager

Métriques

Consultations de la notice

187