Date of this Version
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.
Richard P. Paul, Peter Corke, Janez Funda, Gaylord Holder, Hiroaki Kobayashi, Yangsheng Xu, and Yehong Zhang, "A Distributed System for Robot Manipulator Control, NSF Grant ECS-11879 Fourth Report", . January 1990.
Date Posted: 16 January 2008