Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushle...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Hui, R., Kircanski, N., Goldenberg, A., Zhou, C., Kuzan, P., Wiercienski, J., Gershon, D., Sinha, P.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Brushless motors Couplings Force control Force sensors Instruments Iris Manipulators Robot sensing systems Sampling methods Torque
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