Engineering topics
Publications and source records attributed to Ohm, T..
The engineering details of the Robot Assisted MicroSurgery (RAMS) telerobotic system designed to assist microsurgeons improve the precision and dexterity with which they can position surgical instruments is described in this paper.
A team of engineers at JPL, working in collaboration with MicroDexterity Systems, Inc., and Dr. Steve Charles, recently developed a telerobotic workstation to assist microsurgeons perform surgery.
This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype. This paper describes objectives and constraints for these manipulators, and presents the finished system and some results from its operation.
This paper describes the design and implementation of a small rover for future Mars missions requiring long traverses and rover-based science experiments at the Jet Propulsion Laboratory.
A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper.
This paper provides a system overview of a new Mars rover prototype, Rocky 7.
The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.
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Generic requirements for end effector design are briefly summarized as derived from generic functional and operational requirements. Included is a brief summary of terms and definitions related to end effector technology. The second part contains a brief overview of end effector technology work as JPL during the past ten years, with emphasis on the evolution of new mechanical, sensing and control capabilities of end effectors. The third and major part is devoted to the description of current end effector technology. The ongoing work addresses mechanical, sensing and control details with emphasis on mechanical ruggedness, increased resolution in sensing, and close electronic and control integration with overall telemanipulator control system.