A Small Reaction Manipulator for Maneuvering a GPR Sensing Head

机译：用于操纵GPR传感头的小反应机械手

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In this chapter, we propose a small reaction manipulator for detecting anti-personnel mines. The small reaction manipulator realizes rapid and precise motion control, which are useful for improvement of sensor head maneuver ability. In particular, ground penetrating radar (GPR) requires precise position control to obtain underground information. In order to realize precise and rapid motion control of a sensor head, it is necessary to restrict oscillations caused by end-effector motion. Such mechanical oscillations are produced by fluctuations of kinetic momentum. In order to reduce oscillations it is necessary to keep kinetic momentum constant. For this purpose we used counter weights mounted on a small reaction manipulator. By controlling the counter weights, the small reaction manipulator could precisely position the GPR at high-speed without oscillation. This chapter presents some experimental results from the evaluation of the proposed manipulator.

机译：在本章中，我们提出了一种用于检测杀伤人员矿山的小型反应机械手。小型反应机械手意大速和精确的运动控制，可用于改善传感器头部操纵能力。特别地，地面穿透雷达（GPR）需要精确的位置控制以获得地下信息。为了实现传感器头的精确和快速运动控制，有必要限制由末端效应运动引起的振荡。这种机械振荡是通过动力的波动产生的。为了减少振荡，有必要保持动力量常数。为此目的，我们使用安装在小反应机械手上的计数器重量。通过控制计数器权重，小反应机械器可以在没有振荡的情况下精确地定位GPR。本章介绍了拟议的操纵器的评估中的一些实验结果。

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《International Symposium on Systems and Human Science》|2005年||共12页
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H. Yabushita; Y. Hirata; K. Kosuge; Osaka University; Society for Instrumentation and Control Engineers(SICE); Robotics Society of Japan(RSJ);
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4. A Small Reaction Manipulator for Maneuvering a GPR Sensing Head [C] . H. Yabushita, Y. Hirata, K. Kosuge, International Symposium on Systems and Human Science . 2005

机译：用于操纵GPR传感头的小反应机械手
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A Small Reaction Manipulator for Maneuvering a GPR Sensing Head

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