Technical Reports (CIS)

Document Type

Technical Report

Subject Area


Date of this Version

January 1990


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


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.



Date Posted: 16 January 2008