Abstract
In ort are envisaged, it must be possible to position a dexterous manipulator in the working area inside and outside the vacuum vessel. Owing to the size of the machine the transporters designed to do this have to have a very large reach. At the same time, extremely precise positioning is required as access into the vessel is by way of ports of small dimensions, and space around is cluttered with components and services. So the transporters themselves assume the features of a very large robotic device. The control system, microprocessor based, includes teach-and-repeat and resolved motion facilities.
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References
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© 1992 Springer Science+Business Media Dordrecht
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Raimondi, T. (1992). Transporters for Teleoperations in Jet. In: Bequet, M.C. (eds) Teleoperation: Numerical Simulation and Experimental Validation. Eurocourses, vol 4. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2648-9_8
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DOI: https://doi.org/10.1007/978-94-011-2648-9_8
Publisher Name: Springer, Dordrecht
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