DocumentCode
2532703
Title
Tagged potential fields: An approach to specification of complex manipulator configurations
Author
Lyons, Damian
Author_Institution
University of Massachusetts Amherst, MA
Volume
3
fYear
1986
fDate
31503
Firstpage
1749
Lastpage
1754
Abstract
This paper suggests a solution to the specification problem inherent in writing programs for manipulators with many degrees of freedom. It introduces a mechanism called tagged potential fields, which can be used to economically specify a complex manipulator configuration. Some examples are demonstrated for preshaping a dextrous hand, and some of the possible future applications previewed.
Keywords
Fingers; Graphics; Grasping; Information science; Kinematics; Laboratories; Manipulator dynamics; Position control; Robot programming; Writing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087466
Filename
1087466
Link To Document