13 citations · 32 across the 9 of their papers we have counts for
10 papers
Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS
Durgesh Haribhau Salunkhe, Abhilash Nayak
The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The algebraic approaches have established concrete results but are unfortun…
Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra
Abhilash Nayak, Durgesh Haribhau Salunkhe
The inverse kinematics of generic 3R robots has been investigated through multiple approaches, mainly algebraic methods involving the solution of certain equation sets. Previous ge…
Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input
Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar +1
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the…
Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry
Damien Chablat, Rémi Prébet, Mohab Safey El Din +2
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been st…
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
Haribhau Durgesh, Guillaume Michel, Shivesh Kumar +2
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The…
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco +2
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the…
Geometric Atlas of the Middle Ear and Paranasal Sinuses for Robotic Applications
Guillaume Michel, Durgesh Salunkhe, Philippe Bordure +1
In otolaryngologic surgery, more and more robots are being studied to meet the clinical needs of operating rooms. However, to help design and optimize these robots, the workspace m…
Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery
Guillaume Michel, Durgesh Haribhau Salunkhe, Philippe Bordure +1
In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulat…
A new RCM mechanism for an ear and facial surgical application
Guillaume Michel, Durgesh Salunkhe, Damien Chablat +1
Since the insertion area in the middle ear or in the sinus cavity is very narrow, the mobility of the endoscope is reduced to a rotation around a virtual point and a translation fo…
Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems
Rahul Tallamraju, Durgesh Haribhau Salunkhe, Sujit Rajappa +3
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision…