Control primitives for robot systems
Murray, R.M.
Deno, D.C.
Pister, K.S.J.
Sastry, S.S.
California Univ., Berkeley, CA;
This paper appears in: Systems, Man and Cybernetics, IEEE Transactions on
Publication Date: Jan/Feb 1992
Volume: 22,
Issue: 1
On page(s): 183-193
ISSN: 0018-9472
References Cited: 32
CODEN: ISYMAW
INSPEC Accession Number: 4219531
Digital Object Identifier: 10.1109/21.141324
Current Version Published: 2002-08-06
Abstract
A set of primitive operations that forms the core of a robot
system description and control language is presented. The actions of the
individual primitives are derived from the mathematical structure of the
equations of motion for constrained mechanical systems. The recursive
nature of the primitives allows composite robots to be constructed from
more elementary daughter robots. A few pertinent results of classical
mechanics are reviewed, the functionality of the primitive operation is
described, and several different hierarchical strategies for the
description and control of a two-fingered hand holding a box are
presented
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