A 5-Axis Mini Direct Drive Robot for Time Delayed Teleoperation

Moreyra, M. and Marbot, P.H. and Venema, S. and Hannaford, B. (1995) A 5-Axis Mini Direct Drive Robot for Time Delayed Teleoperation. In: Intelligent Robots and Systems 1994. Elsevier Science, pp. 445-462.

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Abstract

A previously developed 3-axis mini direct drive robot has been enhanced with two additional direct drive axes for general positioning and orientation of an axially symmetric tool. The arm has a work volume of about 120 and 5-10 or better resolution and repeatability. The arm forms an initial prototype for the NASA/University of Washington MicroTrex flight telerobotics experiment. The contemplated terrestrial applications include handling sub-microliter liquid samples for electrophoresis, and micro-manipulation with scaled force reflection.

Item Type: Book Section
Subjects: B Teleoperation > B Teleoperation (General)
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 21:23
Last Modified: 07 Jul 2015 21:23
URI: http://brl.ee.washington.edu/eprints/id/eprint/36

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