NDLI: Pattern recognition and control in manipulation

Content Provider	IEEE Xplore Digital Library
Author	Bejczy, A.K. Tomovic, R.
Copyright Year	1976
Description	Author affiliation: University of California, Los Angeles, California (Tomovic, R.) \|\| California Institute of Technology, Pasadena, California (Bejczy, A.K.)
Abstract	A new approach to the use of Sensors in manipulator or robot control is discussed. The concept addresses the problem of contact or near-contact type of recognition of three-dimensional forms of objects by proprioceptive and/or exteroceptive sensors integrated with the terminal device. This recognition of object shapes both enhances and simplifies the automation of object handling. Several examples have been worked out for the "Belgrade hand" and for a parallel jaw terminal device, both equipped with proprioceptive (position) and exteroceptive (proximity) sensors. The control applications are discussed in the framwork of a multilevel man-machine system control. The control applications create Interesting new issues which, in turn, invite novel theoretical considerations. An important issue is the problem of stability in control when the control is referenced to patterns.
Starting Page	374
Ending Page	381
File Size	1177275
Page Count	8
File Format	PDF
DOI	10.1109/CDC.1976.267762
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1976-12-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pattern recognition Biosensors Shape control Robot sensing systems Force control Robot control Medical robotics Propulsion Automatic control Automation
Content Type	Text
Resource Type	Article

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