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Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste managementRemote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.
Document ID
Document Type
Lew, Jae Young (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J. (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Manipulation Strategies for Massive Space Payloads
Subject Category
Distribution Limits
Work of the US Gov. Public Use Permitted.
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