View Full Version : Re: robot arms, turn tables

05-21-2007, 11:06 PM
Dear Tomislav,

To get the best out of available space and attain the greatest accuracy from
the robot, a consideration is to match your workspace geometry with that of
the robot. This website shows the main configurations:
http://www.ifr.org/pictureGallery/robType.htm. If the body is lying down the
immediate answer is something similar to a CT scanner. Or if upright, as you
suggest - a turntable and horizontal scanner. Both could be produced with a
Cartesian frame as your starting point, the components are relatively
standard: http://www.techno-isel.com/tic/LinMoProducts.htm#XYTABLES.

An emphasis on automated factory layout has always been to ensure people
stay out of the workspace, which is obviously not the case for surgical
robots. I've often wondered how this safety issue was tackled with systems
such as the Da Vinci robot. Has anyone experience of this?


Graham Webb
Trainee Clinical Scientist
Department of Medical Physics and Bioengineering,
St Georges Hospital

-----Original Message-----
From: * Biomechanics and Movement Science listserver
[mailto:BIOMCH-L@NIC.SURFNET.NL] On Behalf Of Tomislav Pribanic
Sent: 21 May 2007 17:07
Subject: [BIOMCH-L] robot arms, turn tables

Dear All,

We are looking for information on different types of robot arms and/or turn
tables that can be used to manipulate in space with rigidly attached pair of
cameras+projector in order to image body from different views and
consequently find full 3D shape of it. What we expect to see from such a
robot arm on its output interface is information about change in
attitude/pose between two successive positions (camera views) in space, i.e.
three translation and three rotational parameters. As it is probably
obvious, we need those to easy up problem of range image registration.
Alternatively, one could perhaps always try and build up such robot arm (or
mentioned turn table in simplest case for smaller object of size and
complexity where the object can be put on the turn table and cameras kept
stationary) on his/her own. However, we would like to explore first perhaps
some readily available solutions on Web. For example
http://www.reisrobotics.com/, although that may turn out to be as overkill,
in terms of size, installation, accompanying utility for manipulation; for a
'simple' goal what we need from that robot arm: translation + rotation.

Thank your for your output, summary will follow.

Best regards,

Dr.sc. Tomislav Pribanic

Faculty of Electrical Engineering and Computing

3 Unska

10000 Zagreb


Tel.: +385 1 6129 867

Fax.: +385 1 6129 652

E-mail: tomislav.pribanic@fer.hr