Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not
intuitive and of greater difficulty than for traditional robots. Depending on the characteristics …

Ensuring safety in physical human–robot interaction is challenging due to hardware and
control architecture differences across robots, and is often implemented as system …

Sinaflex robotic telesurgery system has been introduced recently to provide ergonomic
postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot …

Robotic telesurgery systems, including master and slave robots, have emerged in recent
years to provide benefits for both surgeons and patients. Surgeons use the master …

Essa tese propõe uma técnica para a modelagem dinâmica de robôs seriais e ramificados
utilizando álgebra de quatérnios duais. O modelo considera tanto todas as juntas do tipo …

Industrial robot is extensively used in all major manufacturing and assembly line throughout
the world. In order to properly actuate the robot links, it is necessary to calculate the torque …

Robotic surgery technique has gained admissibility in recent years. To provide ergonomic
postures for the surgeon along with dexterous workspace for the Sinaflex robotic telesurgery …

The robot's Jacobian is an important tool since it allows to solve different problems, from
calculating the trajectory of motion to modeling dynamics in task space. Here we …

The traditional theory of the kinematics and dynamics of robots is based on kinematic pairs
of links. It is primarily applicable to fixed-configuration robots, and has limited application to …

To meet demands of the market and customers, a novel reconfigurable robot model is
developed, and the Jacobian matrix is computed for singularity analysis. It is important to …