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Extra info for On Theory and Practice of Robots and Manipulators

Example text

What the person asking the question means in this case is, does it seem to be continuous ? The question then is really that of cycle time or sampling period. " Since 42 A. Gill, R. Paul, V. Scheinman the computations needed and the computing power that we now have cause the length of the cycle time to be several seconds, no attempt was made to speed it up by programming tricks, use of machine language, etc. With this cycle time the movement of the arm actually stops before we analyze the situation again, so that we do not have to take into account the dynamic aspect of the error.

Here they are the robots, Publishing House "Science", Moscow- Leningrad, 1972. , ·~rtificiallocomotional systems : dynamics, control algorithms, stability, (Author's essay of the doctor thesis, Moscow, 1972). , ·~lgorithms for controlling robots-manipulators, Publishing House "Machine-building", Leningrad, 1968. , "Adaptation and learning in automatic systems, Publishing House "Science", Moscow-Leningrad, 1968. , "The finite continuous group theory and the differential geometry stated through the movible basis, Publishing House of the Moscow State University, Moscow, 1963.

STOP (FORCE, MOMENT) During the next arm motion stop the arm when the feedback force is greater than the equivalent joint force. If the arm fails to stop for this reason before the end of the motion, generate error 23. SKIPE (ERROR) If error ERROR occurred during the previous primitive then skip the next primitive. SKIPN (ERROR) If error ERROR occurred during the previous primitive execute the next primitive otherwise skip the next primitive. JUMP (LAB) Jump to the primitive whose label is LAB AOJ (LAB) Restore the cumulative search increment and jump to LAB.

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