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Pipe Beam Fitting 1

Return to Pipe/Beam Fitting Page

RoboCrane platform wields a pipe gripper.  The gripper has grabbed a pipe with a flange and is flexibly fixturing the pipe near another pipe in preparation to join the pipes.  The control algorithm is such that the coordinate frame can shift from the RoboCrane support to the pipe centerline and rotate about the centerline to align the flange holes with a single operator.


Created August 10, 2011, Updated January 6, 2017