NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login

Press Enter or click the Search button to begin your search.

Back to Results
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 DOF in total. In particular, the design and development of the serpentine micromanipulator end-effector tool which has 12 DOF 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
20210004193
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other
External Source(s)
hdl:2014/33136
Authors
Hayati, Samad
Ohm, Tim
Lee, Thomas S.
Date Acquired
March 20, 1994
Publication Date
March 20, 1994
Publication Information
Publisher: UNKNOWN
Distribution Limits
Public
Copyright
Other
Technical Review
Keywords
robot
inspection
system
micromanipulator
manipulator
remote
surface
inspection
telerobotics
teleoperator
space
structures
end-effector
confined
spaces
serpentine

Available Downloads

There are no available downloads for this record.

Related Records

There are no records associated with this record.
No Preview Available