A 5-axis mini direct drive robot for time delayed teleoperation

Author

Hannaford, Blake ; Marbot, Pierre-Henry ; Moreyra, Manuel ; Venema, Steven

Author_Institution

Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA

Volume

1

fYear

1994

fDate

12-16 Sep 1994

Firstpage

555

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 50 cc and will have 5-10 micron 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

Keywords

aerospace control; delays; robot kinematics; telerobotics; 5-axis mini direct drive robot; NASA/University of Washington MicroTrex flight telerobotics experiment; axially symmetric tool; electrophoresis; general orientation; general positioning; micro-manipulation; scaled force reflection; sub-microliter liquid samples; terrestrial applications; time delayed teleoperation; Cost function; Delay effects; Humans; Low earth orbit satellites; Manipulators; NASA; Orbital robotics; Prototypes; Service robots; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407424

Filename

407424