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Interfacing and Control of the C3 Arm

N. Arenson, J. Angeles The C3 Arm was designed as a four-axis manipulator for positioning tasks of a point of its end link, under a grant from IRIS. Its special architecture was dictated by the purpose of providing it with the highest positioning accuracy. Originally supplied with intelligent controllers, these turned out to be of little use for robotics applications. The controllers have been replaced by more suitable ones. This robot is intended as a setup to benchmark redundancy-resolution control schemes. [C3_arm.ps].45 Photograph of the C3 Arm (without the spherical wrist)angeles:c3



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997