DocumentCode
2537725
Title
Operational space motion specification in AL robot language
Author
Cai, Chunsheng ; Binford, Thomas O.
Author_Institution
Stanford University, Stanford, CA
Volume
4
fYear
1987
fDate
31837
Firstpage
1307
Lastpage
1313
Abstract
A new version of the AL language system has been implemented, with emphasis on the specifications for an object´s motion in operational space under trajectory planning, and flexible grasping. This paper discusses specifications of object geometry, Cartesian trajectory, control frame calculation from the trajectory and geometry, and motion constraints with respect to the control frame. A simple inverse of a Jacobian matrix linking the control frame to joint space variables is also presented.
Keywords
Automatic control; Condition monitoring; Fingers; Force control; Geometry; Manipulators; Motion control; Orbital robotics; Robotics and automation; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087760
Filename
1087760
Link To Document