Synthesis of control system and realization of anthropomorphic industrial manipulator

Abstract

In the paper is presented the practical application of the manipulator automatic two‐level control concept. Anthropomorphic configuration of the system was chosen, consisting of the minimal configuration, which solves the task of attaining the position and the gripper, which has to satisfy correct orientation in approaching the working object, as well as manipulation of the same. The manipulator configuration, chosen in that way, was applied to the concrete task of final treatment of the thermostatic element for the automobile industry. Realization project of this system contains three basic elements:

Citation

Vukobratovic, M., Hristic, D. and Stokic, D. (1978), "Synthesis of control system and realization of anthropomorphic industrial manipulator", Industrial Robot, Vol. 5 No. 2, pp. 74-79. https://doi.org/10.1108/eb004495