Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm
STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
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The problem of computer control of an arm is divided into four PARTS modelling, trajectory calculation, servoing and control. In modelling the author uses a symbolic data structure to represent objects in the environment. The arm is moved along time-coordinated space trajectories in which velocity and acceleration are controlled. The arm is servoed by a small computer. In order to control the arm, a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions.
- Computer Programming and Software
- Biomedical Instrumentation and Bioengineering