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|Title: ||A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics|
|Authors: ||Marzwell, Neville I.|
Uecker, Darrin R.
|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.|
|Appears in Collections:||JPL TRS 1992+|
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