EMIR-a combination of manipulator and robot for new out-door applications in unstructured environments

A large-range (22-m) heavy-payload (1.4-ton) redundant manipulator (EMIR) for outdoor applications is presented. The authors introduce the kinematics of the robot and the basic features of the control system. The latter includes planning modules as well as features for manual control and execution of used-programmed tasks in an automatic program execution mode. This results in enhanced performance flexibility and safety of the heavy-duty machine comprising an online collision check. Externally measured velocity data of rectilinear motion experiments are presented as first experimental results. Finally, some first application demonstration experiments are briefly described