| タイトル | A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics |
| 著者（英） | Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun |
| 発行日 | 1993-12-07 |
| 言語 | eng |
| 内容記述 | This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported. |
| NASA分類 | Cybernetics, Artificial Intelligence and Robotics |
| 権利 | Copyright |
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