Accession Number:

AD0785071

Title:

Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm

Descriptive Note:

Corporate Author:

STANFORD UNIV CA DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

1972-11-01

Pagination or Media Count:

96.0

Abstract:

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.

Subject Categories:

  • Computer Programming and Software
  • Biomedical Instrumentation and Bioengineering

Distribution Statement:

APPROVED FOR PUBLIC RELEASE