Logical Control Theory Applied to Mechanical Arms
Submitted to the Department of Electrical Engineering and Computer Science on January 19, 1979 in partial fulfillment of the requirements for the Degrees of Master of Science and Electrical Engineer. This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts...
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| Format: | Working Paper |
| Language: | en_US |
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MIT Artificial Intelligence Laboratory
2008
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| Online Access: | http://hdl.handle.net/1721.1/41035 |
| _version_ | 1826193300369965056 |
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| author | Pankiewicz, Ronald Joseph |
| author_facet | Pankiewicz, Ronald Joseph |
| author_sort | Pankiewicz, Ronald Joseph |
| collection | MIT |
| description | Submitted to the Department of Electrical Engineering and Computer Science on January 19, 1979 in partial fulfillment of the requirements for the Degrees of Master of Science and Electrical Engineer.
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-75-C-0643.
Thesis supervisor:
Berthold K. P. Horn,
Associate Professor of Electrical Engineering and Computer Science |
| first_indexed | 2024-09-23T09:36:48Z |
| format | Working Paper |
| id | mit-1721.1/41035 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:36:48Z |
| publishDate | 2008 |
| publisher | MIT Artificial Intelligence Laboratory |
| record_format | dspace |
| spelling | mit-1721.1/410352019-04-12T09:44:48Z Logical Control Theory Applied to Mechanical Arms Pankiewicz, Ronald Joseph Submitted to the Department of Electrical Engineering and Computer Science on January 19, 1979 in partial fulfillment of the requirements for the Degrees of Master of Science and Electrical Engineer. This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-75-C-0643. Thesis supervisor: Berthold K. P. Horn, Associate Professor of Electrical Engineering and Computer Science A new control algorithm based upon Logical Control Theory is developed for mechanical manipulators. The controller uses discrete tesselations of state space and a finite set of fixed torques to regulate non-rehearsed movements in real time. Varying effective inertia, coupling between degrees of freedom, and fictional, gravitational and Coriolis forces are readily handled. A logical controller was implemented on a mini-computer for the MIT Scheinman Vicarm. The controller's performance compares favorably with that of controllers designed according to existing methodologies as used, for example, in the control of present day industrial manipulators. MIT Artificial Intelligence Laboratory Department of Defense Advanced Research Projects Agency 2008-04-02T15:21:02Z 2008-04-02T15:21:02Z 1979-02 Working Paper http://hdl.handle.net/1721.1/41035 en_US MIT Artificial Intelligence Laboratory Working Papers, WP-192 application/pdf MIT Artificial Intelligence Laboratory |
| spellingShingle | Pankiewicz, Ronald Joseph Logical Control Theory Applied to Mechanical Arms |
| title | Logical Control Theory Applied to Mechanical Arms |
| title_full | Logical Control Theory Applied to Mechanical Arms |
| title_fullStr | Logical Control Theory Applied to Mechanical Arms |
| title_full_unstemmed | Logical Control Theory Applied to Mechanical Arms |
| title_short | Logical Control Theory Applied to Mechanical Arms |
| title_sort | logical control theory applied to mechanical arms |
| url | http://hdl.handle.net/1721.1/41035 |
| work_keys_str_mv | AT pankiewiczronaldjoseph logicalcontroltheoryappliedtomechanicalarms |