Joint coordination for manipulator tracking
- 1 December 1981
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A method is presented for coordination of manipulator joints when the desired path cannot be pre-determined. This situation may occur, for example, under manual control or when tracking a freely moving object. The system is implemented on a generalized master-slave system at JPL. Velocity measurements are provided at different instances by analog differation and state estimation.Keywords
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