Digital Control of a Six-Axis Manipulator
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 NOOO14-75-C-0643.
This paper describes a scheme for providing low-level control of a multi-link serial manipulator. The goal was to achieve adaptive behavior without making assumptions about the environment.