A 17-axis manipulator utilizing a human-like configuration, designated the K/B-2017 Dexterous Manipulator, has been designed by Robotics Research for advanced industrial automation, one-G demonstrations of space servicing operations and other remote operation/teleoperation applications. Two units have been built. The WB-2017 consists of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly. The arms and torso motions can be completely coordinated by a single motion controller/inverse kinematic algorithm. The units are produced from Robotics Research's standard mechanical, electronic and software modules. The system is capable of reliable operation in adverse environmental conditions. Joint-mounted actuators utilize electric motors, harmonic drive gear reducers and closed-loop joint torque control, resulting in operational characteristics of direct-drive actuators. The system can be controlled with a wide range of advanced control options.
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