Issue No. 01 - January (1983 vol. 5)
Clifford C. Geschke , Coordinated Science Laboratory, University of Illinois, Urbana, IL 61801; Unimation, Inc., Hacienda Heights, CA 91745.
This paper describes an approach to programming and controlling robot manipulators which facilitates the use of sensory information. Robot actions are specified by declaring software servo processes which control the robot's various degrees of freedom. These servo processes can involve position, orientation, force, and torque information from the robot itself, or data from external sensors. Robot tasks are programmed by dynamically modifying the servo processes or by changing set points to these processes. Condition monitors, which have access to program and sensory information, detect the completion of program steps.
Clifford C. Geschke, "A System for Programming and Controlling Sensor-Based Robot Manipulators", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 5, no. , pp. 1-7, January 1983, doi:10.1109/TPAMI.1983.4767338