Open AccessProceedings Article
A practical manipulator system
Boris M. Dobrotin,R. A. Lewis +1 more
- 22 Aug 1977
- pp 723-732
TL;DR: This paper focuses primarily on the implementation of the functional elements and the real world problems encountered by the manipulator system, as opposed to the specific algorithms and equations, since it feels that these two factors are under emphasized in the literature.
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Abstract: This paper describes the development of a practical manipulator system The manipulator requirements dictated by space exploration, the functional elements which meet those requirements, and the problems encountered in implementing those requirements are discussed
The paper focuses primarily on the implementation of the functional elements and the real world problems encountered by the manipulator system, as opposed to the specific algorithms and equations, since we feel that these two factors are under emphasized in the literature
Specific topics discussed include user interfaces, trajectory planning, safety and obstacle avoidance, and link motion control Implementation emphasis has been placed on flexibility, minimizing complexity, and increasing reliability
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Citations
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Autonomous robot of the University of Karlsruhe
U. Rembold,R. Dillmann +1 more
- 01 Oct 1987
TL;DR: The autonomous research robot which is being developed at the University of Karlsruhe will perform simple assembly operations in the laboratory and programming will be done by task-oriented instructions.
14
Torque and Speed Control of DC-Servomotors for Robots
Yoram Koren,S. Malkin +1 more
TL;DR: In this article, the design of the control loops and the selection of controller types for DC servomotors is discussed, and guidelines are presented for choosing the appropriate type of control loop for robot systems.
11
A discrete adaptive guidance system for a roving vehicle
James K. Miller
- 01 Jan 1977
TL;DR: In this paper, a real-time maneuver planning function performs tradeoffs between speed, magnitude of expected deviations and accelerations to best satisfy the design goals of vehicle safety and reliability, subsystem autonomy, performance accuracy and operational efficiency.
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References
Autonomous manipulation on a robot: Summary of manipulator software functions
R. A. Lewis
- 15 Mar 1974
TL;DR: A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived and new and simplifying relationships among the coefficients are proven.
47
•Proceedings Article
Planning considerations for a roving robot with arm
R. A. Lewis,Antat K. Bejczy +1 more
- 20 Aug 1973
TL;DR: The effects of system architecture, arm trajectory calculations, and arm dynamics and control are discussed in the context of planning arm motion in complex and changing sensory and workspace environments.
Optical proximity sensors for manipulators
A. R. Johnson
- 01 May 1973
TL;DR: An optical proximity sensor with potential for local control of a manipulator at the point of grasping and an output signal whenever a diffusely reflecting surface enters asensitive volume having a fixed location with respect to the sensor.
•Proceedings Article
Design of a computer controlled manipulator for robot research
Boris M. Dobrotin,Victor Scheinman +1 more
- 20 Aug 1973
TL;DR: The purpose of this paper is to describe the Jet Propulsion Laboratory Robot Research Project's manipulator, including the rationale behind the design and the detailed design trade-offs that were made, to assist other workers in Artificial Intelligence (AI) who need to develop manipulators for their own use.