Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm

Abstract

The problem of computer control of an arm is divided into four PARTS: modelling, trajectory calculation, servoing and control. In modelling the author uses a symbolic data structure to represent objects in the environment. The arm is moved along time-coordinated space trajectories in which velocity and acceleration are controlled. The arm is servoed by a small computer. In order to control the arm, a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1972
Accession Number
AD0785071

Entities

People

  • Richard Paul

Organizations

  • Stanford University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Boundaries
  • Collisions
  • Computer Programming
  • Computer Science
  • Computers
  • Converters
  • Coordinate Systems
  • Databases
  • Energy
  • Equations
  • Frequency Response
  • Kinetic Energy
  • Language
  • Measurement
  • Robots
  • Trajectories

Fields of Study

  • Computer science

Readers

  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers