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
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;
Journal_Title :
Control Systems, IEEE
