MANIPULATION
A highly redundant robot system for inspection
Thomas C. M. Lee, Tim Ohms, S. Hayati
- Year
- 1994
- Citations
- 19
Abstract
The work on the serpentine inspection system at JPL is described. The configuration of the inspection system consists of 20 degrees of freedom in total. In particular, the design and development of the serpentine micromanipulator end-effector tool which has 12 degrees of freedom is described. The inspection system is used for application in JPL's Remote Surface Inspection project and as a research tool in redundant manipulator control.
Keywords
MicromanipulatorRobot end effectorRobotDegrees of freedom (physics and chemistry)Computer scienceManipulator (device)TeleroboticsControl systemControl engineeringEngineering
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