Publication | Closed Access
Preliminary design of a whole-arm manipulation system (WAMS)
229
Citations
12
References
2003
Year
Unknown Venue
Robot KinematicsRobotic SystemsEngineeringDexterous ManipulationUnderwater SystemField RoboticsMarine EngineeringAvailable Manipulation SurfacesSystems EngineeringKinematicsRoboticsUnderwater RoboticsDesignMechatronicsAutonomous Underwater VehiclesAcoustic TechnologyMarine RoboticsUnderwater RobotFeedforward ControlUnderwater VehicleAerospace EngineeringPrototype MechanismMechanical SystemsSurface RoboticsDesign ConceptsUnderwater TechnologyPreliminary DesignUnderwater Sensing
An approach to manipulation that uses all the available manipulation surfaces of the robot to act on and sense the environment is outlined. The kinematic, mechanism, actuation, and control implications of such a design are discussed and initial experimentation with a prototype mechanism are described. A three-degree-of-freedom underwater manipulator using a number of the resulting design concepts is described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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