DocumentCode
485716
Title
Fast Interactive Control of a Manipulator for the Severely Disabled
Author
Buckley, C.E. ; Leifer, L.J.
Author_Institution
Mechanical Engineering Design Division, Stanford University, Stanford, CA 94305
fYear
1982
fDate
14-16 June 1982
Firstpage
1195
Lastpage
1198
Abstract
A new type of interactive command language for cotrol of robot manipulators is presented, which allows the operator direct control over time derivatives of position of the robot arm. Features of this approach facilitate unification of operator commands with senor information to perform semiautomatic manipulation sequences. An implementation of such a system, called UNIACSYS, is described. Preliminary results of its usage are reported.
Keywords
Command languages; Control systems; Equations; Friction; Manipulator dynamics; Mechanical engineering; Orbital robotics; Robots; Servomechanisms; Transient response;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1982
Conference_Location
Arlington, VA, USA
Type
conf
Filename
4788047
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