Multiple configurations for puncturing robot positioning
International Journal of Advance Robotics & Expert Systems (JARES) Vol.1, No.4, 2019 The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precis...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | |
| container_start_page | |
| container_title | |
| container_volume | |
| creator | Abdelaziz, Omar Luo, Minzhou Jiang, Guanwu Chen, Saixuan |
| description | International Journal of Advance Robotics & Expert Systems (JARES)
Vol.1, No.4, 2019 The paper presents the Inverse Kinematics (IK) close form derivation steps
using combination of analytical and geometric techniques for the UR robot. The
innovative application of this work is used in the precise positioning of
puncture robotics system. The end effector is a puncture needle guide tube,
which needs precise positioning over the puncture insertion point. The IK
closed form solutions bring out maximum 8 solutions represents 8 different
robot joints configurations. These multiple solutions are helpful in the
puncture robotics system, it allow doctors to choose the most suitable
configuration during the operation. Therefore the workspace becomes more
adequate for the coexistence of human and robot. Moreover IK closed form
solutions are more precise in positioning for medical puncture surgery compared
to other numerical methods. We include a performance evaluation for both of the
IK obtained by the closed form solution and by a numerical method. |
| doi_str_mv | 10.48550/arxiv.1903.02281 |
| format | Article |
| fullrecord | <record><control><sourceid>arxiv_GOX</sourceid><recordid>TN_cdi_arxiv_primary_1903_02281</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>1903_02281</sourcerecordid><originalsourceid>FETCH-LOGICAL-a671-c66d66345c797754e4448f3704d24e26f6478c91cf138eaa287e4269656cdd03</originalsourceid><addsrcrecordid>eNotj8tqwzAURLXJIqT9gKyqH7Crx9WVvCwmaQMpXbR7o8hSEDiWke2S_n3rpKuBGTjMIWTLWQlGKfZs8zV-l7xismRCGL4m5n3upjh0nrrUh3ies51i6kcaUqbD3LtpzrE_05xOaaJDGuMy_zUPZBVsN_rH_9yQz_3uq34rjh-vh_rlWFjUvHCILaIE5XSltQIPACZIzaAV4AUGBG1cxV3g0nhrhdEeBFao0LUtkxvydKfenjdDjhebf5rFoLkZyF_SX0DL</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype></control><display><type>article</type><title>Multiple configurations for puncturing robot positioning</title><source>arXiv.org</source><creator>Abdelaziz, Omar ; Luo, Minzhou ; Jiang, Guanwu ; Chen, Saixuan</creator><creatorcontrib>Abdelaziz, Omar ; Luo, Minzhou ; Jiang, Guanwu ; Chen, Saixuan</creatorcontrib><description>International Journal of Advance Robotics & Expert Systems (JARES)
Vol.1, No.4, 2019 The paper presents the Inverse Kinematics (IK) close form derivation steps
using combination of analytical and geometric techniques for the UR robot. The
innovative application of this work is used in the precise positioning of
puncture robotics system. The end effector is a puncture needle guide tube,
which needs precise positioning over the puncture insertion point. The IK
closed form solutions bring out maximum 8 solutions represents 8 different
robot joints configurations. These multiple solutions are helpful in the
puncture robotics system, it allow doctors to choose the most suitable
configuration during the operation. Therefore the workspace becomes more
adequate for the coexistence of human and robot. Moreover IK closed form
solutions are more precise in positioning for medical puncture surgery compared
to other numerical methods. We include a performance evaluation for both of the
IK obtained by the closed form solution and by a numerical method.</description><identifier>DOI: 10.48550/arxiv.1903.02281</identifier><language>eng</language><subject>Computer Science - Robotics</subject><creationdate>2019-03</creationdate><rights>http://creativecommons.org/licenses/by-nc-sa/4.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,885</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/1903.02281$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.1903.02281$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Abdelaziz, Omar</creatorcontrib><creatorcontrib>Luo, Minzhou</creatorcontrib><creatorcontrib>Jiang, Guanwu</creatorcontrib><creatorcontrib>Chen, Saixuan</creatorcontrib><title>Multiple configurations for puncturing robot positioning</title><description>International Journal of Advance Robotics & Expert Systems (JARES)
Vol.1, No.4, 2019 The paper presents the Inverse Kinematics (IK) close form derivation steps
using combination of analytical and geometric techniques for the UR robot. The
innovative application of this work is used in the precise positioning of
puncture robotics system. The end effector is a puncture needle guide tube,
which needs precise positioning over the puncture insertion point. The IK
closed form solutions bring out maximum 8 solutions represents 8 different
robot joints configurations. These multiple solutions are helpful in the
puncture robotics system, it allow doctors to choose the most suitable
configuration during the operation. Therefore the workspace becomes more
adequate for the coexistence of human and robot. Moreover IK closed form
solutions are more precise in positioning for medical puncture surgery compared
to other numerical methods. We include a performance evaluation for both of the
IK obtained by the closed form solution and by a numerical method.</description><subject>Computer Science - Robotics</subject><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>GOX</sourceid><recordid>eNotj8tqwzAURLXJIqT9gKyqH7Crx9WVvCwmaQMpXbR7o8hSEDiWke2S_n3rpKuBGTjMIWTLWQlGKfZs8zV-l7xismRCGL4m5n3upjh0nrrUh3ies51i6kcaUqbD3LtpzrE_05xOaaJDGuMy_zUPZBVsN_rH_9yQz_3uq34rjh-vh_rlWFjUvHCILaIE5XSltQIPACZIzaAV4AUGBG1cxV3g0nhrhdEeBFao0LUtkxvydKfenjdDjhebf5rFoLkZyF_SX0DL</recordid><startdate>20190306</startdate><enddate>20190306</enddate><creator>Abdelaziz, Omar</creator><creator>Luo, Minzhou</creator><creator>Jiang, Guanwu</creator><creator>Chen, Saixuan</creator><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20190306</creationdate><title>Multiple configurations for puncturing robot positioning</title><author>Abdelaziz, Omar ; Luo, Minzhou ; Jiang, Guanwu ; Chen, Saixuan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a671-c66d66345c797754e4448f3704d24e26f6478c91cf138eaa287e4269656cdd03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Computer Science - Robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Abdelaziz, Omar</creatorcontrib><creatorcontrib>Luo, Minzhou</creatorcontrib><creatorcontrib>Jiang, Guanwu</creatorcontrib><creatorcontrib>Chen, Saixuan</creatorcontrib><collection>arXiv Computer Science</collection><collection>arXiv.org</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Abdelaziz, Omar</au><au>Luo, Minzhou</au><au>Jiang, Guanwu</au><au>Chen, Saixuan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Multiple configurations for puncturing robot positioning</atitle><date>2019-03-06</date><risdate>2019</risdate><abstract>International Journal of Advance Robotics & Expert Systems (JARES)
Vol.1, No.4, 2019 The paper presents the Inverse Kinematics (IK) close form derivation steps
using combination of analytical and geometric techniques for the UR robot. The
innovative application of this work is used in the precise positioning of
puncture robotics system. The end effector is a puncture needle guide tube,
which needs precise positioning over the puncture insertion point. The IK
closed form solutions bring out maximum 8 solutions represents 8 different
robot joints configurations. These multiple solutions are helpful in the
puncture robotics system, it allow doctors to choose the most suitable
configuration during the operation. Therefore the workspace becomes more
adequate for the coexistence of human and robot. Moreover IK closed form
solutions are more precise in positioning for medical puncture surgery compared
to other numerical methods. We include a performance evaluation for both of the
IK obtained by the closed form solution and by a numerical method.</abstract><doi>10.48550/arxiv.1903.02281</doi><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | DOI: 10.48550/arxiv.1903.02281 |
| ispartof | |
| issn | |
| language | eng |
| recordid | cdi_arxiv_primary_1903_02281 |
| source | arXiv.org |
| subjects | Computer Science - Robotics |
| title | Multiple configurations for puncturing robot positioning |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T21%3A54%3A33IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-arxiv_GOX&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Multiple%20configurations%20for%20puncturing%20robot%20positioning&rft.au=Abdelaziz,%20Omar&rft.date=2019-03-06&rft_id=info:doi/10.48550/arxiv.1903.02281&rft_dat=%3Carxiv_GOX%3E1903_02281%3C/arxiv_GOX%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true |