Accession Number:

ADA234422

Title:

Line Kinematics for Whole-Arm Manipulation

Descriptive Note:

Memorandum rept.

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

1990-10-01

Pagination or Media Count:

15.0

Abstract:

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are discussed and implemented on the MIT Whole-Arm Manipulator WAM-1.

Descriptors:

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE