An actively constrained two degree-of-freedom manipulator for passive deployment applications

A two degree-of-freedom manipulator using actively constrained revolute joints is presented in this paper. Each revolute joint drive mechanism consists of two motor-driven worms coupled to a single worm wheel. A mathematical model of the manipulator system is used in order to develop a computed-torq...

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Bibliographic Details

Main Authors:	Adam V.C. Reedman, Kaddour Bouazza-Marouf
Format:	Default Article
Published:	2004
Subjects:	Mechanical engineering not elsewhere classified Robotics Computed-torque control Passive deployment Mechanical Engineering not elsewhere classified
Online Access:	https://hdl.handle.net/2134/5139
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