2189⎇⎇July 20, 1972␈→60⎇-1000⎇⎇␈←
2190⎇⎇␈→60⎇0⎇⎇16558⎇␈←␈→60⎇-1000⎇⎇␈←
2191⎇⎇␈→60⎇0⎇⎇TABLE OF CONTENTS␈←
2192⎇⎇1.0  INTRODUCTION␈→60⎇-1000⎇⎇Page 1␈←
2193⎇⎇        1.1  SYSTEM DESCRIPTION ␈→60⎇-1000⎇⎇Page 1␈←
2194⎇⎇        1.2* HISTORY ␈→60⎇-1000⎇⎇Page 5␈←
2195⎇⎇2.0  WORLD MODEL␈→60⎇-1000⎇⎇Page 6␈←
2196⎇⎇        2.1  PROTOTYPE DESCRIPTION ␈→60⎇-1000⎇⎇Page 6␈←
2197⎇⎇        2.2  ORIENTATION VECTORS ␈→60⎇-1000⎇⎇Page 9␈←
2198⎇⎇3.0  ARM MODEL␈→60⎇-1000⎇⎇Page 14␈←
2199⎇⎇        3.1  KINEMATICS ␈→60⎇-1000⎇⎇Page 14␈←
2200⎇⎇        3.2  ARM SOLUTION ␈→60⎇-1000⎇⎇Page 17␈←
2201⎇⎇        3.3  DIFFERENTIAL SOLUTION ␈→60⎇-1000⎇⎇Page 18␈←
2202⎇⎇        3.4  DYNAMICS ␈→60⎇-1000⎇⎇Page 19␈←
2203⎇⎇        3.5  FORCE AND MOMENTS ␈→60⎇-1000⎇⎇Page 22␈←
2204⎇⎇4.0  MOVE INSTANCE␈→60⎇-1000⎇⎇Page 24␈←
2205⎇⎇        4.1  RANGE OF SOLUTION ␈→60⎇-1000⎇⎇Page 24␈←
2206⎇⎇        4.2  MOVE INSTANCE ␈→60⎇-1000⎇⎇Page 25␈←
2207⎇⎇5.0  TRAJECTORIES␈→60⎇-1000⎇⎇Page 28␈←
2208⎇⎇        5.1  GENERAL CONSIDERATIONS ␈→60⎇-1000⎇⎇Page 28␈←
2209⎇⎇        5.2  POLYNOMIALS ␈→60⎇-1000⎇⎇Page 30␈←
2210⎇⎇        5.3  TRAJECTORY EXTREMA ␈→60⎇-1000⎇⎇Page 34␈←
2211⎇⎇        5.4  CONTINUOUS MOTION ␈→60⎇-1000⎇⎇Page 35␈←
2212⎇⎇        5.5  DIFFERENTIAL MOTION ␈→60⎇-1000⎇⎇Page 37␈←
2213⎇⎇6.0  SERVO␈→60⎇-1000⎇⎇Page 39␈←
2214⎇⎇        6.1  FEEDBACK LOOP ␈→60⎇-1000⎇⎇Page 39␈←
2215⎇⎇        6.2  MOTOR DRIVE ␈→60⎇-1000⎇⎇Page 45␈←
2216⎇⎇        6.3  PARTIALLY CONSTRAINED MOTION ␈→60⎇-1000⎇⎇Page 46␈←
2217⎇⎇7.0  CONTROL␈→60⎇-1000⎇⎇Page 48␈←
2218⎇⎇        7.1  ARM STATE ␈→60⎇-1000⎇⎇Page 48␈←
2219⎇⎇        7.2  PRIMITIVES ␈→60⎇-1000⎇⎇Page 49␈←
2220⎇⎇        7.3  ASSEMBLY PROGRAM ␈→60⎇-1000⎇⎇Page 52␈←
2221⎇⎇        7.4  PROGRAMMING EXAMPLES ␈→60⎇-1000⎇⎇Page 53␈←
2222⎇⎇        7.5  EXECUTE ␈→60⎇-1000⎇⎇Page 56␈←
2223⎇⎇        7.6  ARM PROGRAM ␈→60⎇-1000⎇⎇Page 57␈←
2224⎇⎇8.0* MOTION ANALYSIS␈→60⎇-1000⎇⎇Page 60␈←
2225⎇⎇        8.1* FORCE AND RESULTANT MOTION ANALYSIS ␈→60⎇-1000⎇⎇Page 60␈←
2226⎇⎇July 20, 1972␈→60⎇-1000⎇⎇CONTENTS␈←
2227⎇⎇␈→60⎇0⎇⎇16559⎇␈←␈→60⎇-1000⎇⎇␈←
2228⎇⎇9.0* CONCLUSIONS␈→60⎇-1000⎇⎇Page 61␈←
2229⎇⎇        9.1* CONCLUSIONS AND FUTURE WORK ␈→60⎇-1000⎇⎇Page 61␈←
2230⎇⎇APPENDIX ␈→60⎇-1000⎇⎇Page 62␈←
2231⎇⎇        A.1  HARDWARE DESCRIPTION ␈→60⎇-1000⎇⎇Page 62␈←
2232⎇⎇        A.2  SAIL ␈→60⎇-1000⎇⎇Page 63␈←
2233⎇⎇        A.3  VECTORS AND TRANSFORMATIONS ␈→60⎇-1000⎇⎇Page 64␈←