This paper introduces for the first time, the Lagrange's dynamic equations in dual number qua... more This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.
This paper presents a concept of a microprocessor control system with flexible structure and para... more This paper presents a concept of a microprocessor control system with flexible structure and parameters, designed for steering and positioning working components of machines driven by electro-hydraulic systems. An idea for decomposition of a block structure of the control system was presented, as well as the idea of transposing block structure into a machine readable form. Also, an example of the concept of a single-circuit control system for one of the segments of a concrete pump extension arm has been given. Results of simulation tests and experimental data for a concrete pump and hydraulic excavator made in Poland are also provided.
for Computer Assisted Surgery Journal This paper presents a validation method implemented in pedi... more for Computer Assisted Surgery Journal This paper presents a validation method implemented in pedicle screw insertion for spinal fusion procedures, utilizing a miniature robotic system. In an instrumented dry bone spine, the entire process was examined from planning through registration to robot positioning. Comparing the resulting screw position to the planned one it was found that the robotic system had achieved an overall accuracy at tool tip better than +/-1.25mm. Introduction Successful application of robotic assisted surgery in active or semi-active modes requires an accurate execution of a long list of steps, such as: pre-operative 3D image handling, pre-operative planning, 2D to 3D registration, robot calibration and correct surgical tool positioning. All the above steps should be accomplished with high accuracy and simplicity so that, for example, in the common procedure of pedicle screw insertion used in spinal fusion, the pedicle screw is positioned with greater accuracy t...
La presente invention concerne un systeme et une methode destines a des procedures d'arthropl... more La presente invention concerne un systeme et une methode destines a des procedures d'arthroplastie du genou dans lesquelles on utilise un nouveau dispositif de rotation de la jambe pour permettre de placer mutuellement l'axe mecanique de la jambe, le tibia et le femur de sorte que l'axe mecanique porteur de la charge de la jambe traverse le centre de l'articulation du genou. Un gabarit de mesure est utilise et installe sur le tibia pour aligner une plaque-base dans une position connue sur le tibia. Cette plaque-base supporte une plaque-cible pour les rayons X dans une position connue par rapport au tibia, afin de determiner l'axe mecanique et un robot chirurgical facultatif, utilise pour effectuer les coupes sur le tibia et sur le femur. La position du femur par rapport au robot peut etre determinee par imagerie aux rayons X de la region pelvienne apres la fixation d'une plaque-base d'une cible additionnelle s'etendant vers la region pelvienne. Ce sys...
... use interruptible hardware. Also, Miller and Lennox developed an object-orientedRobot Indepen... more ... use interruptible hardware. Also, Miller and Lennox developed an object-orientedRobot Independent Program-ming Environment (RIPE), which is implemented on VxWorks commercial operating system [10]. In RIPE, a sensor ...
Journal of Dynamic Systems, Measurement, and Control, 1987
This paper deals with the development of kinematic algorithms for the control of sensor-equipped ... more This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.
This paper introduces for the first time, the Lagrange's dynamic equations in dual number qua... more This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.
This paper presents a concept of a microprocessor control system with flexible structure and para... more This paper presents a concept of a microprocessor control system with flexible structure and parameters, designed for steering and positioning working components of machines driven by electro-hydraulic systems. An idea for decomposition of a block structure of the control system was presented, as well as the idea of transposing block structure into a machine readable form. Also, an example of the concept of a single-circuit control system for one of the segments of a concrete pump extension arm has been given. Results of simulation tests and experimental data for a concrete pump and hydraulic excavator made in Poland are also provided.
for Computer Assisted Surgery Journal This paper presents a validation method implemented in pedi... more for Computer Assisted Surgery Journal This paper presents a validation method implemented in pedicle screw insertion for spinal fusion procedures, utilizing a miniature robotic system. In an instrumented dry bone spine, the entire process was examined from planning through registration to robot positioning. Comparing the resulting screw position to the planned one it was found that the robotic system had achieved an overall accuracy at tool tip better than +/-1.25mm. Introduction Successful application of robotic assisted surgery in active or semi-active modes requires an accurate execution of a long list of steps, such as: pre-operative 3D image handling, pre-operative planning, 2D to 3D registration, robot calibration and correct surgical tool positioning. All the above steps should be accomplished with high accuracy and simplicity so that, for example, in the common procedure of pedicle screw insertion used in spinal fusion, the pedicle screw is positioned with greater accuracy t...
La presente invention concerne un systeme et une methode destines a des procedures d'arthropl... more La presente invention concerne un systeme et une methode destines a des procedures d'arthroplastie du genou dans lesquelles on utilise un nouveau dispositif de rotation de la jambe pour permettre de placer mutuellement l'axe mecanique de la jambe, le tibia et le femur de sorte que l'axe mecanique porteur de la charge de la jambe traverse le centre de l'articulation du genou. Un gabarit de mesure est utilise et installe sur le tibia pour aligner une plaque-base dans une position connue sur le tibia. Cette plaque-base supporte une plaque-cible pour les rayons X dans une position connue par rapport au tibia, afin de determiner l'axe mecanique et un robot chirurgical facultatif, utilise pour effectuer les coupes sur le tibia et sur le femur. La position du femur par rapport au robot peut etre determinee par imagerie aux rayons X de la region pelvienne apres la fixation d'une plaque-base d'une cible additionnelle s'etendant vers la region pelvienne. Ce sys...
... use interruptible hardware. Also, Miller and Lennox developed an object-orientedRobot Indepen... more ... use interruptible hardware. Also, Miller and Lennox developed an object-orientedRobot Independent Program-ming Environment (RIPE), which is implemented on VxWorks commercial operating system [10]. In RIPE, a sensor ...
Journal of Dynamic Systems, Measurement, and Control, 1987
This paper deals with the development of kinematic algorithms for the control of sensor-equipped ... more This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.
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Papers by Moshe Shoham