Analytical zoning of manipulator coverage
Jean Vertut, J Guilbaud, J.C. Germond, R. Seran, A. Ducondi · Transactions of the American Nuclear Society · 1973
From 21st conference on remote systems technology; San Francisco, California, USA (11 Nov 1973). See CONF-731111-. The combined limitations of viewing and handling an object within a cell were analyzed. Also, the limitations of orienting an object, based on its location within the cell, were described. From the extreme reach position of the manipulator, where the tong can only twist an object, successive concentric zones were described in which an object can be oriented to pan an increasing angle and tilt from the horizontal to the vertical (movement around the tong center). This allows a better compared zoning of manipulators with different geometry. (auth)