Year: 1991
Type: article
Abstract: Remediation of large underground storage tanks containing hazardous waste provides an application for state-of-the-art technology in flexible link manipulator design and control and a need for additional research and development. Application requirements are described, and preliminary analyses associated with this problem are summarized. Inherent physical limitations of flexible manipulators are discussed. Potential kinematic configurations, drive-train elements, and control issues for both free-space motion and damping of forced vibration are addressed. Also included are future directions for research and development in mechanical components and control strategies.
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: U.S. Department of Energy
Awards: G2988778103, G361195141
OpenAlex ID: W1527698133