Algorithmic formulation of control problems in manipulationThe basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.
Document ID
19770033798
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)