Title :
Joint coordination for manipulator tracking
Author_Institution :
Jet Propulsion Laboratory, Pasadena, CA
Abstract :
A method is presented for coordination of manipulator joints when the desired path cannot be pre-determined. This situation may occur, for example, under manual control or when tracking a freely moving object. The system is implemented on a generalized master-slave system at JPL. Velocity measurements are provided at different instances by analog differation and state estimation.
Conference_Titel :
Decision and Control including the Symposium on Adaptive Processes, 1981 20th IEEE Conference on
Conference_Location :
San Diego, CA, USA
DOI :
10.1109/CDC.1981.269523
