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REDIESTRO-1

Y. Gonthier, F. Ranjbaran, J. Angeles, A. Robins (Canadair) A seven-axis, redundant manipulator was designed from scratch at CIM, with an architecture optimized to provide it with the highest accuracy, which led to what we have termed kinematic isotropy. This feature gives the manipulator the highest accuracy for positioning and force-sensing, which makes it ideal for the hybrid force-and-positioning control. The manipulator, originally named REDIESTRO, has been renamed REDIESTRO 1 to distinguish it from its successor, REDIESTRO 2, described below. REDIESTRO 1 is currently being retrofitted with a six-axis force sensor at its end-effector, with the purpose of integrating it into a dual-arm workcell that is being dveloped in conjunction with the Canadian Space Agency and Canadair. The workcell is used for the development of algorithms for object-avoidance and force control, which will be used on the International Space Station, since this robot has many features of the Space Station Remote Manipulator System. This project is financed by a contract with Canadair. [rediestro1.ps].45 REDIESTRO 1angeles:rediestro



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