Trajectory Control of a Computer Arm
نویسنده
چکیده
This paper describes the programming of a computer controlled arm. The programming is d i vided logical ly into planning and execution Communication between planning and execution is by a data f i l e which specifies the arm trajectory with reapect to time, and actions that the arm should perform. The servo program which moves the arm along the trajectory is based on Legrangian mechanics and takes into account coupling between l inks, and the variation of iner t ia l loading with change of arm configuration.
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تاریخ انتشار 1971