Line Kinematics for Whole-Arm Manipulation

Abstract

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are discussed and implemented on the MIT Whole-Arm Manipulator (WAM-1).

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1990
Accession Number
ADA234422

Entities

People

  • Brian Eberman
  • David L. Brock

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Artificial Intelligence
  • Boundaries
  • Control
  • Coordinate Systems
  • Environment
  • Equations
  • Geometry
  • Grids
  • Information Systems
  • Kinematics
  • Manipulators
  • Massachusetts
  • Mathematics
  • Military Research
  • Stiffness
  • Trajectories

Readers

  • Robotics and Automation.