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26 August 1999 MMS: a modular robotic system and model-based control architecture
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The Modulator Manipulator Systems (MMS) is a general purpose user configurable modular robotic system that provides rapid and inexpensive implementation of standard or customized manipulator geometries of arbitrary complexity, tailored to the needs of individual researchers or application engineers. Structures are configured from self contained 1- DOF rotary or linear JOINT modules, which include an on- board control processor, power amplifier, DC servomotor, high precision position sensor and a fast, rigid connect/disconnect latch. The joints are connected together by passive rigid LINK tubes, that define the manipulator geometry. These components are all offered in 5, 7, 10, 14 and 20 cm diameters, with power density and positional accuracy competitive with other commercial manipulators.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
William J. Schonlau "MMS: a modular robotic system and model-based control architecture", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999);

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