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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2014/36461
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| Title: | A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics |
| Authors: | Marzwell, Neville I.
Uecker, Darrin R.
Wang, Yulun |
| Issue Date: | 7-Dec-1993 |
| Citation: | Anaheim, California, USA |
| Abstract: | 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. |
| URI: | http://hdl.handle.net/2014/36461 |
| Appears in Collections: | JPL TRS 1992+
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