Pattern recognition and control in manipulationA new approach to the use of sensors in manipulator or robot control is discussed. The concept addresses the problem of contact or near-contact type of recognition of three-dimensional forms of objects by proprioceptive and/or exteroceptive sensors integrated with the terminal device. This recognition of object shapes both enhances and simplifies the automation of object handling. Several examples have been worked out for the 'Belgrade hand' and for a parallel jaw terminal device, both equipped with proprioceptive (position) and exteroceptive (proximity) sensors. The control applications are discussed in the framework of a multilevel man-machine system control. The control applications create interesting new issues which, in turn, invite novel theoretical considerations. An important issue is the problem of stability in control when the control is referenced to patterns.
Document ID
19770045966
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Tomovic, R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)