Controlling a manipulator using sensory motor interaction

Abstract

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.

Manipulator motion along a constraint

“…The second component in expression (2.1) is the vector directed to the object at F n < F p and from the object at F n >F p . At V Z = Q the value of (2.1) is the programmed value of the velocity which is employed 8 ' 9 to solve the problem of keeping contact between the manipulator and an object. Let the manipulator control law be linear with respect to its velocity (K x , K y = const > 0)…”