An adaptive manipulator with force sensors

Gurfinkel, V. S.; Devjanin, E.A.; Anishchenko, S.A; Lensky, A. V.; Moshevelov, S.B; Shneider, A. Yu.

doi:10.1016/0094-114x(83)90116-7

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1984

1986

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Cited by 3 publications

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“…Manipulators cannot work in this way if the probes that collect information have no motor functions. 4 These systems solve handling problems in two stages (the information acquisition and object manipulation proper are separated in time), and do not work if the object moves as the information is being collected.…”

Section: Basic Principlesmentioning

confidence: 99%

Controlling a manipulator using sensory motor interaction

et al. 1984

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SUMMARYThe 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.

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Section: Basic Principlesmentioning

confidence: 99%