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Proceedings Paper

MMS: a modular robotic system and model-based control architecture
Author(s): William J. Schonlau
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Paper Abstract

The Modulator Manipulator Systems (MMS) is a general purpose user configurable modular robotic system that provides rapid and inexpensive implementation of standard or customized manipulator geometries of arbitrary complexity, tailored to the needs of individual researchers or application engineers. Structures are configured from self contained 1- DOF rotary or linear JOINT modules, which include an on- board control processor, power amplifier, DC servomotor, high precision position sensor and a fast, rigid connect/disconnect latch. The joints are connected together by passive rigid LINK tubes, that define the manipulator geometry. These components are all offered in 5, 7, 10, 14 and 20 cm diameters, with power density and positional accuracy competitive with other commercial manipulators.

Paper Details

Date Published: 26 August 1999
PDF: 8 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360350
Show Author Affiliations
William J. Schonlau, Raytheon Systems Co. (United States)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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