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