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Synthesis of control system and realization of anthropomorphic industrial manipulator

M. Vukobratovic (Mihailo Pupin Institute, Yugoslavia)
D. Hristic (Mihailo Pupin Institute, Yugoslavia)
D. Stokic (Mihailo Pupin Institute, Yugoslavia)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 1978


In the paper is presented the practical application of the manipulator automatic two‐level control concept. Anthropomorphic configuration of the system was chosen, consisting of the minimal configuration, which solves the task of attaining the position and the gripper, which has to satisfy correct orientation in approaching the working object, as well as manipulation of the same. The manipulator configuration, chosen in that way, was applied to the concrete task of final treatment of the thermostatic element for the automobile industry. Realization project of this system contains three basic elements:


Vukobratovic, M., Hristic, D. and Stokic, D. (1978), "Synthesis of control system and realization of anthropomorphic industrial manipulator", Industrial Robot, Vol. 5 No. 2, pp. 74-79.




Copyright © 1978, MCB UP Limited