Mechanical design for the tactile exploration of constrained internal geometries
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Summary
Experimental results show that the proposed field system architecture, a 4 degreeof-freedom anthropomorphic manipulator, can obtain accurate tactile data without using any sensor feedback besides manipulator joint angles, and demonstrates that down-well tactile exploration with a manipulator is feasible.
- Type
- dissertation
- Published
- 2009-01-01
- Cited by
- 0
- References
- 70
- Access
- Open access
- OpenAlex
- https://openalex.org/W1492721575
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:106833017
Keywords
Engineering, Mechanical engineering, Computer science
References
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- Least Squares Orthogonal Distance Fitting of Curves and Surfaces in Space
- Genetic Algorithms—Principles and Perspectives
- Theory of Robot Control
- Solid Modeling: A Historical Summary and Contemporary Assessment
- Pose-independent recognition of convex objects from sparse tactile data
- Book review: The Engineering of Knowledge-based Systems Theory and Practice by Avelino J. Gonzales and Douglas D. Dankel (Prentice Hall, 1993)
- Impedance Control: An Approach to Manipulation: Part I—Theory
- Guaranteed-quality mesh generation for curved surfaces
- A multi-objective optimum design of general 3R manipulators for prescribed workspace limits
- Methods to recover constant radius rolling ball blends in reverse engineering
- On Three-Dimensional Surface Reconstruction Methods
- The Synthesis of Manipulators with Prescribed Workspace
- Reverse engineering of simple surfaces of unknown shape with touch probes: Scanning and compensation issues
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