The Mathematics of Supervisory Computer Control of Manipulators

[+] Author and Article Information
T. L. Brooks

Robotics and Teleoperator Group, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, Calif.

J. Dyn. Sys., Meas., Control 104(4), 323-330 (Dec 01, 1982) (8 pages) doi:10.1115/1.3139716 History: Received April 03, 1981; Online July 21, 2009


This paper advances a mathematical formulation which, when combined with appropriate operator and sensor inputs, can be used to generate the control functions necessary for short, autonomous periods of remote manipulation under human supervision. It is shown that all manipulation tasks belong to one of four basic categories which are a function of the spatial variability of the task and its dynamic state. Techniques for both describing and executing tasks in each category are given and the relation between these techniques and previous efforts are discussed. Additionally, methods for measuring and tracking the task motion as a function of position, velocity and acceleration are considered.

Copyright © 1982 by ASME
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