NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Issues in advanced automation for manipulator controlThis paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.
Document ID
19770045799
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Bejczy, A. K.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Date Acquired
August 8, 2013
Publication Date
January 1, 1976
Subject Category
Cybernetics
Meeting Information
Meeting: Joint Automatic Control Conference on Productivity
Location: West Lafayette, IN
Start Date: July 27, 1976
End Date: July 30, 1976
Accession Number
77A28651
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available