On the Design of Computer Controlled Manipulators
In connection with researches in the area of Artificial Intelligence, several studies have been made of mechanical manipulators for use under computer control. This paper summarizes these results, and gives the reader an overview of problems associated with the design, kinematics and control of mechanical manipulators. Some new results on kinematics are presented.
KeywordsKinematic Chain Revolute Joint Hydraulic Manipulator Prismatic Joint Suboptimal Control
Unable to display preview. Download preview PDF.
- Pieper, D.L.,“The Kinematics of Manipulators Under Computer Control. Ph, D. Thesis, Stanford University, 1968, 157 pp.Google Scholar
- Pieper, D.L., and Roth, B., “The Kinematics of Manipulators Under Computer Control”, Proceedings II International Congress on the Theory of Machines and Mechanisms, 1969, Vol. 2, pp. 159–168.Google Scholar
- Kahn, M.E., The Near-Minimum-Time Control of Open-Loop Articulated Kinematic Chains,Ph.D. Thesis, Stanford University, 1969, 171 pp.Google Scholar
- Kahn, M.E., and Roth, B. “The Near-Minimum-Time Control of Open-Loop Articulated Kinematic Chains, ”Transactions of the ASME, to be published in 1971.Google Scholar
- Scheinman, V.D.,“Design of Computer Controlled Manipulators;’ Engineers Degree Thesis, Stanford University, 1969, 53 pp.Google Scholar
- Wichman, W.M.,“Use of Optical Feedback in the Computer Control of an Arm, Engineers Degree Thesis, Stanford University, 1967.Google Scholar
- Anderson, V.C., and Horn, R.C., “Tensor Arm Manipulator Design”. ASME paper 67-DE-57.Google Scholar
- Dimentberg, F.M., “A General Method for the Investigation of Finite Displacements of Spatial Mechanisms and Certain Cases of Passive Joints”, (English translation) Purdue Tranlation No. 436, Purdue University Libraries.Google Scholar
- Duffy, J., and Rooney, J., “On the Closures of Spatial Mechanisms”, ASME paper no. 72-Mech-77 (1972).Google Scholar