Line Kinematics for Whole-Arm Manipulation

Autoria(s): Eberman, Brian; Brock, David L.
Data(s)

04/10/2004

04/10/2004

01/01/1991
Resumo

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).
Formato

1809290 bytes

708755 bytes

application/postscript

application/pdf
Identificador

AIM-1255

http://hdl.handle.net/1721.1/6561
Idioma(s)

en_US
Relação

AIM-1255
Acesso ao item digital