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			USEFUL REFERENCES 

			  compiled by
			Victor Scheinman


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1)\New Techniques for Terminal Phase Control of Manipulator Motion
by A.K. Bejczy and A.R. Johnston- Report No. 760-98.  Feb. 1, 1974.
Jet Propulsion Laboratory, Calif. Inst. of Technology, Pasadena, Calif.


2)\Robot Arm Dynamics and Control  by A.K. Bejczy,  JPL Technical Memorandum
33-669,  Jet Propulsion Laboratory, Pasadena Calif.


3)\Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm,
by Richard Paul- Stanford Artificial Intelligence Laboratory Memo  AIM-177.
Stanford University, Stanford, Calif.   November 1972


4)\The Use of Sensory Feedback in a Programmable Assembly System,
by Robert Bolles and Richard Paul.
Stanford Artificial Intelligence Lab.  Memo  AIM-220.


5)\The Kinematics of Manipulators Under Computer Control, by D.L. Pieper.  
Stanford Artificial Intelligence Laboratory Memo No. 72, October 1968.


6)\A Mechanical Arm Control System  by Richard C. Waters.  Massachusetts
Institute of Technology, A.I. Laboratory.  Memo No. 301, Januray 1974.


7)\Manipulation Based on Sensor-Directed Control:    An Integrated End
Effector and Touch Sensing System.  by J.W. Hill and A.J. Sword
Stanford Research Institute, Menlo Park, Calif 94025.


8)\Exploratory  Research  in Industrial  Modular Assembly.   by  J.L.
Nevins et al.	Report  No.   R-800,  March  1974,
The  Charles  Strak Draper Laboratory, Inc. Cambridge, Mass. 02139.

	


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