A Rapidly Deployable Manipulator System

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A Rapidly Deployable Manipulator System (1996)

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by Christiaan J.J. Paredis , H. Benjamin Brown , Pradeep K. Khosla

Venue:	IEEE International Conference on Robotics and Automation
Citations:	34 - 2 self

BibTeX

@INPROCEEDINGS{Paredis96arapidly,
    author = {Christiaan J.J. Paredis and H. Benjamin Brown and Pradeep K. Khosla},
    title = {A Rapidly Deployable Manipulator System},
    booktitle = {IEEE International Conference on Robotics and Automation},
    year = {1996},
    pages = {1434--1439}
}

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Abstract

: A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS) hardware and the corresponding control software. 1 Introduction Robot manipulators can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by its mechanical structure. For example, a manipulator well-suited for precise movement across the top of a table would probably not be capable of lifting heavy objects in the vertical direction. Therefore, to perform a given task, one needs to choose a manipulator with an appropriate mechanical structure. This is only possible when the task requirements are known beforehand, which is often not the case in unpredictable and changing en...

Keyphrases

deployable manipulator system mechanical structure appropriate mechanical structure reconfigurable modular hardware main aspect modular programming tool reconfigurable modular manipulator system introduction robot manipulator vertical direction different task precise movement corresponding control software heavy object task requirement

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