Design and Control Considerations for Industrial and Space Manipulators
Whitney, Daniel E.
Book, Wayne John
Lynch, Paul M.
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This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.