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Adaptive control of a robotic manipulatorA control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. 'Adaptive control' in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.
Document ID
19790030988
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Lewis, R. A.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Date Acquired
August 9, 2013
Publication Date
January 1, 1977
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: Conference on Decision and Control, and Symposium on Adaptive Processes, 16th, and Special Symposium on Fuzzy Set Theory and Applications
Location: New Orleans, LA
Start Date: December 7, 1977
End Date: December 9, 1977
Accession Number
79A15001
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other

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