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Jiang X, Konno A, Uchiyama M. Vision-Based Task-Level Control of a Flexible-Link Manipulator. Adv Robot 2012. [DOI: 10.1163/016918610x487072] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
Affiliation(s)
- Xin Jiang
- a Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan;,
| | - Atsushi Konno
- b Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan
| | - Masaru Uchiyama
- c Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan
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Bakari MJ, Zied KM, Seward DW. Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks. INT J ADV ROBOT SYST 2007. [DOI: 10.5772/5665] [Citation(s) in RCA: 37] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID) and Proportional-Integral-Plus (PIP) control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.
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