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Dual-arm generalized compliant motion with shared control
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Backes, Paul G. |
| Copyright Year | 1994 |
| Description | Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134). |
| File Size | 2243516 |
| Page Count | 32 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940000243 |
| Archival Resource Key | ark:/13960/t7xm37j7w |
| Language | English |
| Publisher Date | 1994-09-09 |
| Access Restriction | Open |
| Subject Keyword | Mathematics And Information Sciences Manipulators Teleoperators Robotics Remote Control Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
