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1. Definitions – Functional architectures and principles
1.1 Definition and classification of force feedback master-slave telemanipulators
The term "force feedback master-slave telemanipulator" refers to an assembly of two manipulators (or arms) – master and slave – linked by mechanical transmissions or servo actuators in force feedback master-slave mode. Note that topologically, the manipulator is not simply interposed between the operator and the object, but connected in the middle to a fixed part (wall) which acts as a frame.
The classification of master-slave telemanipulators corresponds to the various stages of their technological development in the nuclear industry, and serves as an essential reference:
master-slave manipulator (MSM) ;
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Definitions – Functional architectures and principles
Bibliography
Cybernetix (France)
AREVA – Mecachimie (France)
Haption (France)
Stäubli (France)
SIT (France)
La Calhène (France)
Telerob (Germany)
Wälischmiller (Germany)
Oxford Technology Ltd (United Kingdom)
Carrs (United Kingdom)...
Websites
...Standards and norms
Industrial robots
- T1 Robots manipulateurs industriels.T2 Exigences de sécurité pour les systèmes robot. - NF E61-120 -
- Télémanipulateurs maître-esclave. - NF E61-051 -
- Dispositifs de manipulation à distance pour matériaux radioactifs. - ISO 17874 -
- Exigences générales. - Parti 1 : -
- Télémanipulateurs maître-esclave mécaniques. - Parti 2 : -
- Télémanipulateurs...
Patents
CEA (CEA patent no. INPI 0006757)
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The Ultimate Scientific and Technical Reference