Ric & Robots
MEDICAL ROBOTICS
Spine Robotic Assistant ALAYA
Simulink diagram that simulates a 6DoF manipulator that has been used in surgical robotics.
The diagram solves the constrained movements of a manipulator that holds a surgical instrument that is introduced inside the patient's abdomen using a trocar. In this situation, the movements are performed taking into account the insertion point (fulcrum). To solve this issue, a Jacobian based position control scheme has been used, which is able to generate the manipulator joint angles references to perform a movement taking into account a previously fixed fulcrum point. The obtained joint angles are then used to animate a 3D model (VRML) of the 6DoF manipulator. Morever, this 3D model allows to place the instrument tip at any orientation using Euler ZYZ angles or a rotation matrix.
The 3D model can also be used for teaching or research purposes, e.g. to calculate its kinematics.The Jacobian based position control scheme has been presented in the paper:
Perez-del-Pulgar, C.J.; Munoz, V.F.; Velasco, J.J.; Gomez, R., "Parallel force-position control scheme with fuzzy gain tuning for single port laparoscopic surgery," in Control, Automation and Systems (ICCAS), 2013 13th International Conference on , vol., no., pp.101-106, 20-23 Oct. 2013.
doi: 10.1109/ICCAS.2013.6703871Please, reference this paper if you use the model.This work has been developed by the University of Malaga students:
Ana María Gómez Delgado
José Ricardo Sánchez Ibáñez
Ignacio Alzugaray López
Pedro Cervera Pedregosa
Juan José Velasco ManzanaresCite As
Carlos Pérez del Pulgar (2025). 6DoF robot simulink diagram for simulation (https://www.mathworks.com/matlabcentral/fileexchange/54455-6dof-robot-simulink-diagram-for-simulation), MATLAB Central File Exchange. Retrieved March 4, 2025.Links of interest:
- LinkedIn Post about arrival
SPACE ROBOTICS
Integrated Breadboard 4
Links of interest:
- ESA Blog Post
- BBC Post
- Independent article
- Airbus LinkedIn Post
Integrated Breadboard 3
Links of interest:
- ESA Blog PostPublications:
- Field Trials of the Integrated BreadBoard 3: Demonstrating a Rover System in the Sample Fetch Rover Mission Context
- DESIGN AND PLANNING OF FIELD TRIALS FOR THE INTEGRATED BREADBOARD 3 (IBB3): TOWARDS THE DEMONSTRATION OF AN
INTEGRATED ROVER SYSTEM IN THE SFR MISSION CONTEXT
Sample Fetch Rover - Integrated Breadboard 2
Links of interest:
- ESA Blog PostPublications:
- Roving with the buzzards: a TRL5 autonomy marathon
ADE: Autonomous DEcision making in very long traverses
Links of interest:
- Project Description
- DFKI Post about final field trials
RESCUE ROBOTICS
Rescue Robotics Projects: FIRST-ROB and TRUST-ROB
Rescue robotics. Development and implementation of anisotropic path planner for autonomous navigation of mobile robots on irregular terrains.
National research project DPI2015-65186-R
