Controlling a Redundant Robot Arm by Means of a Haptic Sensor
نویسندگان
چکیده
This paper describes the hardwareand software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot . This so-called is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.
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تاریخ انتشار 2002