Title :
Tagged potential fields: An approach to specification of complex manipulator configurations
Author_Institution :
University of Massachusetts Amherst, MA
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;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087466
