System architecture design for hybrid manipulator
A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an In...
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| Formato: | Tese |
| Publicado em: |
2008
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| Acesso em linha: | http://hdl.handle.net/10356/5591 |