An actively constrained two degree-of-freedom manipulator for passive deployment applications

A two degree-of-freedom manipulator using actively constrained revolute joints is presented in this paper. Each revolute joint drive mechanism consists of two motor-driven worms coupled to a single worm wheel. A mathematical model of the manipulator system is used in order to develop a computed-torq...

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Bibliographic Details
Main Authors: Adam V.C. Reedman, Kaddour Bouazza-Marouf
Format: Default Article
Published: 2004
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Online Access:https://hdl.handle.net/2134/5139
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