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Please use this identifier to cite or link to this item: http://bura.brunel.ac.uk/handle/2438/4770

Title: A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback
Authors: Taylor, W K
Lavie, D
Esat, II
Publication Date: 1983
Publisher: Cambridge University Press
Citation: Robotica 1(1): 33-39, 1983
Abstract: A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision System that is easily trained to recognise the shape, position and orientation of components. The gripper position and orientation is controlled by feedback from the vision System, the action taken depending on component recognition and inspection for defects. Redundant degrees of freedom enable the curvilinear robot to avoid obstacles and work in confined spaces.
Description: The official version of this article can be found at the link below.
Sponsorship: The research programme described in this paper is supported by the U.K. Science and Engineering Research Council.
URI: http://bura.brunel.ac.uk/handle/2438/4770
DOI: http://dx.doi.org/10.1017/S0263574700001041
ISSN: 0263-5747
Appears in Collections:School of Engineering and Design Research papers
Mechanical and Aerospace Engineering

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