Journal
MECHATRONICS
Volume 15, Issue 5, Pages 589-609Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2004.09.007
Keywords
robot; hand; land mine clearance; tele-operation; master-slave; hydraulic hand
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In this article a master-slave system consisting of a data glove and a hydraulic robot hand is proposed. In particular experimental results showing the nonlinearity of the hydraulic manipulator, its linearization and position control using pulse modulation is described. The purpose of this master-slave system is landmine removal and obstacle clearance. The robot hand and a multifunctional manipulator will be installed on an existing mine detection robot. (c) 2004 Elsevier Ltd. All rights reserved.
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