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Please use this identifier to cite or link to this item: http://hdl.handle.net/2014/36461

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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