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The design of a teleoperated 8-DoF redundant robot for Doppler sonography is detailed in this paper. The proposed robot is composed of a 7-DoF robotic arm mounted on a 1-DoF linear axis. This solution has been conceived to allow Doppler ultrasound examination of the entire patient’s body. This paper details the design of the platform and proposes two alternative control modes to deal with its redundancy at the torque level. The first control mode considers the robot as a full 8-DoF kinematics chain, synchronizing the action of the eight joints and improving the global robot manipulability. The second control mode decouples the 7-DoF arm and the linear axis controllers and proposes a switching strategy to activate the linear axis motion when the robot arm approaches the workspace limits. Moreover, a new adaptive Joint-Limit Avoidance (JLA) strategy is proposed with the aim of exploiting the redundancy of the 7-DoF anthropomorphic arm. Unlike classical JLA approaches, a weighting matrix is actively adapted to prioritize those joints that are approaching the mechanical limits. Simulations and experimental results are presented to verify the effectiveness of the proposed control modes.

Redundancy Exploitation of an 8-DoF Robotic Assistant for Doppler Sonography