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COBRA-Phase I

J. Angeles, S. Ostrovskaya, P. Montagnier

This project, whose acronym stands for Control of a Boom-Mounted Robot Arm, is a joint effort of McGill University, Concordia University, the Canadian Space Agency, and Bombardier Services. Phase I of this project, financed with a contract from Bombardier Services, in the framework of the STEAR-Quebec Program, comprises a feasibility study of the dynamics and control of long-reach manipulators mounted on a boom with important structural flexibility, that can hamper the execution of the task. Envisioned applications are aimed at aircraft maintenance and servicing, in operations such as shot-peening, stripping, painting, and deicing. All these operations include, additionally, inspection.
 


Boom-mounted robot


 





Annual Report

Fri Nov 26 23:00:32 GMT 1999