Robotic arm phd thesis

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Goal of Thesis : develop a haptic guidance strategy to constraint the drilling tool movements into a desired region. Goal of Thesis : control the robot movements based on the detection of the surgical instruments in endoscopic images. Aim of the study: Vasculature is known to be of key biological significance, especially in the study of therapeutic decisions and prognostic estimation. Unfortunately, the acquisition methods can not able to capture small information i. The goal is to define a neural network able to reconstruct vessels that are hidden in the medical images.
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Post: The Origin of Robot Arm Programming Languages

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Alexander Broad

Nathan Thatcher Ulrich , University of Pennsylvania. This dissertation presents mechanical design techniques of improving the performance of robot manipulators. Although measures of robot performance for conventional applications--such as payload, dynamic response, accuracy, economy and reliability--are considered, this research is especially concerned with the behavior of robots in unstructured environments. In such a setting, the total system mass, the energy efficiency, and the ability of a manipulator arm to interact positively with its surroundings are also important.
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Phd thesis in robotics and mechanical engineering

Dissertation Ph. The term "hyper-redundant" refers to robotic manipulators and mobile robots with a very large, possibly infinite, number of actuatable degrees of freedom. These robots are analogous in morphology and operation to snakes, worms, elephant trunks, and tentacles. This thesis presents a novel kinematic framework for hyper-redundant manipulator motion planning and task implementation. The basis of this formulation is the use of a "backbone reference set" which captures the essential macroscopic geometric features of hyper-redundant robots.
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