25 search results - page 2 / 5 » Non-commensurate Manipulator Jacobian |
MICCAI
2003
Springer
14 years 8 months ago
2003
Springer
Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle steering is developed and a Needle Manipulation Jaco...
IROS
2007
IEEE
14 years 1 months ago
2007
IEEE
— In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optim...
ICRA
2007
IEEE
14 years 1 months ago
2007
IEEE
—This paper addresses the design considerations and dexterity evaluation of a novel hybrid two-armed micro-surgical slave robot equipped with intraocular dexterity devices. A uni...
ENGL
2007
13 years 7 months ago
2007
—The concept of ‘manipulability’ is particularly important to characterize the ability of a serial kinematic chain – artificial manipulator or natural limb – to move quic...
ICRA
2010
IEEE
13 years 6 months ago
2010
IEEE
— We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs o...