THE ROBOT DISCUSSED IN THIS PAPER IS A MULTI-PROCESS, SEVERE ENVIRONMENT, CLOSE-LOOPED COMPUTER CONTROLLED ARTICULATOR/MANIPULATOR. ALONG WITH A COMPLETELY INTEGRATED SUPPORT TRAILER THAT PROVIDES ABRASIVE GRIT BLASTING, BOTH WET OR DRY, HIGH-PRESSURE WATER JETTING, AND ELECTRICAL POWER FOR CAPABILITIES OF AROUND THE CLOCK CONTINUOUS OPERATION. THE SYSTEM IS MOBILE AND HAS A MAXIMUM WORKING HEIGHT OF 120 FEET AND HAS BEEN GEOMETRICALLY ENGINEERED TO PROPERLY ADDRESS VIRTUALLY ANY SHAPE WORK FEATURE NORMALLY ENCOUNTERED. THERE WERE FOUR MAIN TASKS TO DEVELOP KINEMATIC EQUATIONS WHICH MAKE POSSIBLE THE COORDINATED MOTION OF THE 10 AXES; DEVELOP THE TRANSFORMATIC EQUATIONS, ESTABLISH PRIME PROVEN KINEMATIC LINK, DEVELOP THE INVERSE TRANSFORMATION EQUATIONS, CREATE BASIC COMPUTER PROGRAMS FOR THESE EVENTS.
| Number of Pages : | 19 |
| Published : | 06/01/1990 |
