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A highly redundant robot system for inspectionThe work on the serpentine inspection system at JPL is described. The configuration of the inspection system consists of 20 degrees of freedom in total. In particular, the design and development of the serpentine micromanipulator end-effector tool which has 12 degrees of freedom is described. The inspection system is used for application in JPL's Remote Surface Inspection project and as a research tool in redundant manipulator control.
Document ID
19940026040
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lee, Thomas S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ohms, Tim (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Hayati, Samad (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 6, 2013
Publication Date
March 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), Volume 1
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 94-1194-CP
Accession Number
94N30545
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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