Trajectory Control of a Computer Arm

Session No. 8 Robots and Integrated Systems 385 TRAJECTORY CONTROL OF A COMPUTER ARM* by Richard Paul Stanford Artificial Intelligence Project Stanford University Stanford, California USA This paper describes the programming of a computer controlled arm. The programming is divided logically into planning and execution Communication between planning and execution is by a data file which specifies the arm trajectory with reapect to time, and actions that the arm should perform. The servo program which moves the arm along the trajectory is based on Legrangian mechanics and takes into account coupling between links, and the variation of inertial loading with change of arm configuration. Key words: INTRODUCTION arm, trajectory, servo We are Interested in driving a computer controlled arm such as the one shown in Figure 1. This arm [1] has six degrees of freedom with a vise grip hand and a useiuL working area about equivalent to that of a human arm. The arm is powered by printed circuit eietric motors with harmonic drive gear reductions.