Accession Number:

ADA172287

Title:

End-Point Control of Flexible Manipulators.

Descriptive Note:

Final rept. 1 Sep 84-30 Aug 85,

Corporate Author:

STANFORD UNIV CA DEPT OF AERONAUTICS AND ASTRONAUTICS

Personal Author(s):

• Cannon,Robert H.
• Binford,Thomas O.

Report Date:

1986-09-01

Pagination or Media Count:

129.0

Abstract:

Table of Contents--Technical Report Part I. Dextrous Hands Overview, Hand Construction Improvement, Sensor Progress, Force Control Capability, Manipulation Strategy, Computation Power Technical Report Part II. Force Control of Very Flexible Manipulators Force Control of a Single Very Flexible Manipulator, Flexible Arm with Quick Wrist for Precision Force Control, Two Link Arm Control, Design for a Two-Cooperating-Arm System, Tight Control of Joint Torque. Author

Descriptors:

• *MANIPULATORS
• CONTROL
• COMPUTATIONS
• PRECISION
• POWER
• TORQUE
• TIGHTNESS
• FLEXIBLE STRUCTURES
• HANDS
• WRIST

Subject Categories:

• Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE