RMRL: Research

Long Reach Manipulation

It is a two-link manipulator with a reach of 5 m designed and constructed for many practical applications such as the repair of high voltage transmission towers and lines, the inspection of underground storage tanks, the repair of bridges and space systems maintenance. This project focuses on the identification of its kinematic parameters using laser-based position sensing, and eventually exploiting from input shaping methodologies to eliminate the residual vibrations of its tip point.