Passive robotics: an exploration of mechanical computation
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 279-284 vol.1
- https://doi.org/10.1109/robot.1990.125987
Abstract
A passive wrist, of fixed design, can be programmed to execute a wide range of useful control laws. Considered in particular are wrists whose actuators are unpowered hydraulic cylinders, the ports of which are coupled to one another via variable-conductance constrictions. The wrist is programmed by selection of these conductances, much as an analog computer is programmed. The range of control laws such a device can compute is characterized mathematically.<>Keywords
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