Control Framework For Hand - Arm Coordination

Sanjay Agrawal

doi:10.1117/12.969915

1 February 1990 Control Framework For Hand - Arm Coordination

Sanjay Agrawal

Proceedings Volume 1196, Intelligent Control and Adaptive Systems; (1990) https://doi.org/10.1117/12.969915
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

Co-ordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level, would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. We describe the scope of the system and the current setup plus future lines of development.

Citation Download Citation

Sanjay Agrawal "Control Framework For Hand - Arm Coordination", Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); https://doi.org/10.1117/12.969915

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available