Preliminary design of a whole-arm manipulation system (WAMS)
- 6 January 2003
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 254-260 vol.1
- https://doi.org/10.1109/robot.1988.12057
Abstract
An approach to manipulation that uses all the available manipulation surfaces of the robot to act on and sense the environment is outlined. The kinematic, mechanism, actuation, and control implications of such a design are discussed and initial experimentation with a prototype mechanism are described. A three-degree-of-freedom underwater manipulator using a number of the resulting design concepts is described.Keywords
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