Technology put to work.
1993-94
viper
The VIPER system consists of a planar serpentine manipulator, deployment system, and control console. The manipulator is a seven link, six joint arm that is about six foot in length and 2 1/2 inches in diameter. A serpentine manipulator can bend its segments around obstructions that would hinder a typical six or seven degree of freedom manipulator. Each joint is kinematically controlled, so that the operator only guides the motion of the end segment via joystick, and each successive joint follows the same path described by the end segment. A small camera mounted at the tip of the arm provides the operator with a forward-looking view of the work space as well as a visual inspection capability. An adapter plate at the end of the arm can be configured to deploy several end effectors. Reflexive sensing, external to the arm, reduces the chance of collisions with obstacles. The manipulator is deployed by a motorized linear slide with six feet of travel. The control console consists of a desktop PC, video monitor, and joystick, which provide control of all functions, video from the tip-mounted camera, and operator control of the direction and speed of the end segment.