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Controlling a manipulator using sensory motor interaction

Published online by Cambridge University Press:  09 March 2009

V. S. Gurfinkel' ,
E. A. Devyanin ,
A. V. Lensky ,
S. B. Mozhzhevelov ,
A. M. Formal'sky  and
A. Yu Shneider
V. S. Gurfinkel'
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
E. A. Devyanin
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
A. V. Lensky
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
S. B. Mozhzhevelov
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
A. M. Formal'sky
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
A. Yu Shneider
Affiliation:
Institute for Information Transmission Problems Acad. Sci. (USSR) & Institute for Mechanics of Moscow State University, Moscow (USSR).
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Summary

The control of a robot manipulator with force sensors in the gripping tips is considered. The sensors measure three components of the force. Complicated motions of the manipulator are complied from basic movements, and the paper describes how the operation of grasping an arbitrarily positioned object is constructed from the basic movements. A mathematical model of the basic procedure of keeping contact with the object is considered.

Information

Type
Article
Information
Robotica , Volume 2 , Issue 3 , July 1984 , pp. 155 - 159
Copyright
Copyright © Cambridge University Press 1984

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References

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