• DocumentCode
    3535078
  • Title

    Preliminary design of a whole-arm manipulation system (WAMS)

  • Author

    Salisbury, K. ; Townsend, W. ; Ebrman, B. ; DiPietro, David

  • Author_Institution
    Artificial Intelligence Lab., MIT, Cambridge, MA, USA
  • fYear
    1988
  • fDate
    24-29 Apr 1988
  • Firstpage
    254
  • Abstract
    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
  • Keywords
    control system synthesis; kinematics; marine systems; robots; actuation; design; kinematic; robots; underwater manipulator; whole-arm manipulation system; Actuators; Artificial intelligence; Cables; Force control; Humans; Kinematics; Robot sensing systems; Sea surface; Testing; Torque control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
  • Conference_Location
    Philadelphia, PA
  • Print_ISBN
    0-8186-0852-8
  • Type

    conf

  • DOI
    10.1109/ROBOT.1988.12057
  • Filename
    12057
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3535078