Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.


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    Title :

    A Generalized-Compliant-Motion Primitive


    Contributors:

    Published in:

    Publication date :

    1993-09-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English