Philippe Poignet, Etienne Dombre, Olivier Merigeaux, François Pierrot and Gilles Duchemin
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we…
Abstract
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we discuss design and control issues.
Fabian Andres Lara-Molina, João Maurício Rosário, Didier Dumur and Philippe Wenger
– The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot.
Abstract
Purpose
The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot.
Design/methodology/approach
The control strategy is composed of two control loops. The inner loop aims at linearizing the nonlinear robot dynamics using feedback linearization. The outer loop tracks the desired trajectory based on GPC strategy, which is robustified against measurement noise and neglected dynamics using Youla parameterization.
Findings
The experimental results show the benefits of the robustified predictive control strategy on the dynamical performance of the Orthoglide robot in terms of tracking accuracy, disturbance rejection, attenuation of noise acting on the control signal and parameter variation without increasing the computational complexity.
Originality/value
The paper shows the implementation of the robustified predictive control strategy in real time with low computational complexity on the Orthoglide robot.
Details
Keywords
Because I want the next generation of women to be set free from the birdcage of racial, gender and class stereotypes, a place from which my mother, grandmothers and great…
Abstract
Because I want the next generation of women to be set free from the birdcage of racial, gender and class stereotypes, a place from which my mother, grandmothers and great grandmothers never had the chance to escape, it is a personal and political choice to rupture the experiences of racial prejudice that bind us into phobic races within various shades of hatred. I am both digging a new place to find “truth” and criticizing an essential part of who I am or what I was taught to believe about our black and indigenous heritage. An epiphanic moment combines past, present and future moments into an act of doing and becoming. In honoring the first “queen” in my family, I wrote the following non-fiction children's story about my great grandmother Bernarda in three languages. Although I have never seen a picture of Bernarda, I feel her Chibcha blood burning inside of me and within every awkward phrase that I piece together as I fumble through grammatical structures, reviving memories into performative language. I wrote the first draft in English and later translated it into French and Spanish.
Pierre Vieyres, Gérard Poisson, Fabien Courrèges, Olivier Mérigeaux and Philippe Arbeille
Ultrasound examinations represent one of the major diagnostic modalities of future healthcare. They are currently used to support medical space research but require a high skilled…
Abstract
Ultrasound examinations represent one of the major diagnostic modalities of future healthcare. They are currently used to support medical space research but require a high skilled operator for both probe positioning on the patient's skin and image interpretation. TERESA is a tele‐echography project that proposes a solution to bring astronauts and remotely located patients on ground quality ultrasound examinations despite the lack of a specialist at the location of the wanted medical act.