A Distributed System for Robot Manipulator Control, NSF Grant ECS-11879 Fourth Report

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Technical Reports (CIS)
General Robotics, Automation, Sensing and Perception Laboratory
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Paul, Richard P
Corke, Peter
Funda, Janez
Holder, Gaylord
Kobayashi, Hiroaki
Xu, Yangsheng
Zhang, Yehong
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Abstract

This is the fourth annual report representing our last year's work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force control; developed an end-effector capable of securing a stable grasp on an object and a theory of grasping; developed and built a controller which minimizes control delays; explored a parallel kinematics algorithms for the controller; developed a consistent approach to the definition of motion both in joint coordinates and in Cartesian coordinates; developed a symbolic simplification software package to generate the dynamics equations of a manipulator such that the calculations may be split between background and foreground.

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1990
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University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-07.
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