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Robotic surgery involves the use of less-invasive surgical methods, which are “procedures performed through tiny incisions”. [1] Robots use the da Vinci surgical method, which involves the robotic arm (which holds onto surgical instruments) and a camera. The surgeon sits on a console where he controls the robot wirelessly.
Unimate 500 PUMA (1983), control unit and computer terminal at Deutsches Museum, Munich PUMA arm at NASA. The PUMA (Programmable Universal Machine for Assembly, or Programmable Universal Manipulation Arm) is an industrial robotic arm developed by Victor Scheinman at pioneering robot company Unimation.
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot ) or translational (linear ...
Consider a robotic arm [15] that can be moved and positioned by a control loop. An electric motor may lift or lower the arm, depending on forward or reverse power applied, but power cannot be a simple function of position because of the inertial mass of the arm, forces due to gravity, external forces on the arm such as a load to lift or work to ...
The controller contains computers that control the arm, power supply and regulation equipment, and sometimes auxiliary hardware specific to an application such as IO or networking equipment. Due to the variety of automation applications being deployed, controllers must contain hardware that enables the robots to be used in many different ...
So impedance control is interaction control. [2] Note that mechanical systems are inherently multi-dimensional - a typical robot arm can place an object in three dimensions ((,,) coordinates) and in three orientations (e.g. roll, pitch, yaw). In theory, an impedance controller can cause the mechanism to exhibit a multi-dimensional mechanical ...