Control primitives for robot systems

Author

Murray, Richard M. ; Deno, D. Curtis ; Pister, K.S.J. ; Sastry, S. Shankar

Author_Institution

California Univ., Berkeley, CA

Volume

22

Issue

1

fYear

1992

Firstpage

183

Lastpage

193

Abstract

A set of primitive operations that forms the core of a robot system description and control language is presented. The actions of the individual primitives are derived from the mathematical structure of the equations of motion for constrained mechanical systems. The recursive nature of the primitives allows composite robots to be constructed from more elementary daughter robots. A few pertinent results of classical mechanics are reviewed, the functionality of the primitive operation is described, and several different hierarchical strategies for the description and control of a two-fingered hand holding a box are presented

Keywords

kinematics; robot programming; robots; classical mechanics; constrained mechanical systems; control primitives; description and control language; equations of motion; hierarchical strategies; kinematics; primitive operations; robot programming; robot systems; two-fingered hand; Capacitive sensors; Circuits; Control systems; Fingers; Force sensors; Neural networks; Poisson equations; Robot control; Robotics and automation; Strain measurement;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.141324

Filename

141324