DocumentCode
929850
Title
Joint connection mechanism for reconfigurable manipulator
Author
Ishii, Y. ; Fukuzaki, T. ; Ichikawa, Y. ; Suzuki, M. ; Naito, S. ; Iwatsuka, N.
Author_Institution
Hitachi Ltd., Ibaraki, Japan
Volume
13
Issue
4
fYear
1993
Firstpage
73
Lastpage
78
Abstract
A reconfigurable dual-arm manipulator than can automatically change the configuration of one arm has been developed for use in maintenance and repair tasks for nuclear plant facilities is described. The development of hardware and force control for the reconfigurable arm is discussed. A design in which controller parameters can be chosen easily with no need for detailed kinematic analysis is proposed. Experimental results are given.<>
Keywords
computerised control; force control; manipulators; nuclear reactor maintenance; computerised control; force control; joint connection mechanism; nuclear reactor maintenance; reconfigurable dual-arm manipulator; repair; Arm; Control design; End effectors; Fasteners; Hardware; Manipulators; Master-slave; Plasmas; Robots; Valves;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/37.229563
Filename
229563
Link To Document