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WAVE A model based language for manipulator control

WAVE A model based language for manipulator control This paper describes a symbolic manipulator control language, WAVE. WAVE resembles a computer machine language and has been used for performing such tasks as a the assembly of a Model T water pump, the block manipulation needed to solve the Instant Insanity puzzle, bruch caligraphy, crank turning, the two handed mounting of a door hinge, and the assembly of a pencil sharpener. The language specifies motions, provides force and touch control and is capable of interacting with external vision systems. A model of the manipulator is maintained to translate positions in rectangular coordinates into joint angles and to predict joint inertias and gravity loads. Programming is interpretative and uses a PDP10 computer running under timesharing. The planning programm calculates manipulator trajectories and dynamic constants and writes an executable program on a disk. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

WAVE A model based language for manipulator control

Industrial Robot: An International Journal , Volume 4 (1): 8 – Jan 1, 1977

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/eb004473
Publisher site
See Article on Publisher Site

Abstract

This paper describes a symbolic manipulator control language, WAVE. WAVE resembles a computer machine language and has been used for performing such tasks as a the assembly of a Model T water pump, the block manipulation needed to solve the Instant Insanity puzzle, bruch caligraphy, crank turning, the two handed mounting of a door hinge, and the assembly of a pencil sharpener. The language specifies motions, provides force and touch control and is capable of interacting with external vision systems. A model of the manipulator is maintained to translate positions in rectangular coordinates into joint angles and to predict joint inertias and gravity loads. Programming is interpretative and uses a PDP10 computer running under timesharing. The planning programm calculates manipulator trajectories and dynamic constants and writes an executable program on a disk.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Jan 1, 1977

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