A rapidly deployable manipulator system
نویسندگان
چکیده
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS) hardware and the corresponding control
منابع مشابه
Agent-based design of fault tolerant manipulators for satellite docking
A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the Task Based Design component of such a system; that is, the determination of the optimal manipulator configuration, its base positi...
متن کاملInferred End-Point Control of Long Reach Manipulators - Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings.
The problem of the end-point control of long reach manipulator systems, consisting of a dexterous manipulator carried by deployable structures, is addressed. Such systems can be important where a manipulator must perform a task in a difficult to reach location. Power line maintenance systems and the Space Station Freedom’s external maintenance robot are examples. Their supporting deployable str...
متن کاملInferred end-point control of long reach manipulators
The problem of the end-point control of long reach manipulator systems, consisting of a dexterous manipulator carried by deployable structures, is addressed. Such systems can be important where a manipulator must perform a task in a difficult to reach location. Power line maintenance systems and the Space Station Freedom’s external maintenance robot are examples. Their supporting deployable str...
متن کاملHierarchical Modal Control of a Novel Manipulator
This paper focuses on the development and implementation of an intelligent hierarchical controller for the vibration control of a deployable manipulator. The emphasis is on the use of knowledge-based tuning of the low-level controller so as to improve the performance of the system. To this end, first a fuzzy inference system (FIS) is developed. The FIS is then combined with a conventional modal...
متن کاملThe rapidly deployable radio network
The Rapidly Deployable Radio Network (RDRN) is an architecture and experimental system to develop and evaluate hardware and software components suitable for implementing mobile, rapidly deployable, and adaptive wireless communications systems. The driving application for the RDRN is the need to quickly establish a communications infrastructure following a natural disaster, during a law enforcem...
متن کامل