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Published in:
1988 | OriginalPaper | Chapter
Sensor-Based Modification of Local Models for Robotic Manipulation
Author : Harvey Lipkin
Published in: CAD Based Programming for Sensory Robots
Publisher: Springer Berlin Heidelberg
Included in: Professional Book Archive
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Nominal local models are used to represent constrained manipulation tasks. Based on sensor feedback, the nominal local models are updated for trajectory modification. Algorithms for altering the models and trajectories are developed from kinestatic filtering techniques which have been previously applied to hybrid twist and wrench control.