Title :
The JPL Serpentine Robot: a 12-DOF system for inspection
Author :
Paljug, Eric ; Ohm, Timothy ; Hayati, Samad
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6-DOF manipulators cannot similarly function. This paper describes the Serpentine Robot mechanical design, a low level inverse kinematic algorithm for the joint assembly, a brief synopsis of control development to date, and the applications of this technology
Keywords :
automatic optical inspection; control system synthesis; kinematics; manipulators; space research; 12-DOF system; Jet Propulsion Laboratory; Serpentine Robot; hyper-redundant manipulator; inspection; inverse kinematic; joint assembly; mechanical design; Aircraft navigation; Algorithm design and analysis; Inspection; Kinematics; Laboratories; Manipulators; Propulsion; Prototypes; Robotic assembly; Robots;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525732
