Hydraulic master-slave land mine clearance robot hand controlled by pulse modulation

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.