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A Generalized-Compliant-Motion PrimitiveComputer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.
Document ID
19930000607
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Backes, Paul G.
(Caltech)
Date Acquired
August 16, 2013
Publication Date
September 1, 1993
Publication Information
Publication: NASA Tech Briefs
Volume: 17
Issue: 9
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-18134
Accession Number
93B10607
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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