2234⎇⎇July 20, 1972␈→60⎇-1000⎇⎇␈←
2235⎇⎇␈→60⎇0⎇⎇16560⎇␈←␈→60⎇-1000⎇⎇␈←
2236⎇⎇␈→60⎇0⎇⎇LIST OF ILLUSTRATIONS␈←
2237⎇⎇1.0  INTRODUCTION
2238⎇⎇2.0  WORLD MODEL
2239⎇⎇2.1  Cube Prototype␈→60⎇-1000⎇⎇Page 6␈←
2240⎇⎇2.2  Prototypes␈→60⎇-1000⎇⎇Page 7␈←
2241⎇⎇2.3  Hand Coordinates␈→60⎇-1000⎇⎇Page 10␈←
2242⎇⎇2.4  Orientation Vectors␈→60⎇-1000⎇⎇Page 10␈←
2243⎇⎇2.5  Pick-up Point on an Edge␈→60⎇-1000⎇⎇Page 11␈←
2244⎇⎇2.6  Outside Vertex␈→60⎇-1000⎇⎇Page 12␈←
2245⎇⎇3.0  ARM MODEL
2246⎇⎇3.1  Arm␈→60⎇-1000⎇⎇Page 14␈←
2247⎇⎇3.2  Link Coordinate System␈→60⎇-1000⎇⎇Page 14␈←
2248⎇⎇3.3  Solution of Joints 1,2 and 3␈→60⎇-1000⎇⎇Page 17␈←
2249⎇⎇3.4  Solution of Joints 4,5 and 6␈→60⎇-1000⎇⎇Page 18␈←
2250⎇⎇3.5  Force Transformation␈→60⎇-1000⎇⎇Page 23␈←
2251⎇⎇4.0  MOVE INSTANCE
2252⎇⎇4.1  Approach limited by Arm␈→60⎇-1000⎇⎇Page 24␈←
2253⎇⎇4.2  Approach Angle Limited by Support Plane␈→60⎇-1000⎇⎇Page 25␈←
2254⎇⎇5.0  TRAJECTORIES
2255⎇⎇5.1  Crash␈→60⎇-1000⎇⎇Page 28␈←
2256⎇⎇5.2  Maximum Penetration of Hand␈→60⎇-1000⎇⎇Page 28␈←
2257⎇⎇5.3  Point to Point Trajectory␈→60⎇-1000⎇⎇Page 29␈←
2258⎇⎇5.4  Trajectory beyond Joint Range␈→60⎇-1000⎇⎇Page 29␈←
2259⎇⎇5.5  Liftoff Overshoot␈→60⎇-1000⎇⎇Page 30␈←
2260⎇⎇5.6  Looping␈→60⎇-1000⎇⎇Page 35␈←
2261⎇⎇6.0  SERVO
2262⎇⎇6.1  Simple Servo Loop␈→60⎇-1000⎇⎇Page 39␈←
2263⎇⎇6.2  Effective Inertia Independent Feedback␈→60⎇-1000⎇⎇Page 40␈←
2264⎇⎇6.3  Gravity Independent Loop␈→60⎇-1000⎇⎇Page 40␈←
2265⎇⎇6.4  Acceleration Compensated Loop␈→60⎇-1000⎇⎇Page 41␈←
2266⎇⎇6.5  Position Error - Inertia Independent Loop␈→60⎇-1000⎇⎇Page 42␈←
2267⎇⎇6.6  Position Error - Gravity Independent Loop␈→60⎇-1000⎇⎇Page 42␈←
2268⎇⎇6.7  Position Error - Acceleration Independent Loop␈→60⎇-1000⎇⎇Page 42␈←
2269⎇⎇6.8  Drive v. Output Torque␈→60⎇-1000⎇⎇Page 45␈←
2270⎇⎇6.9  piece wise linear Drive v. Torque␈→60⎇-1000⎇⎇Page 45␈←
2271⎇⎇7.0  CONTROL
2272⎇⎇7.1  A Draw Motion␈→60⎇-1000⎇⎇Page 51␈←
2273⎇⎇7.2  Arm Program, Simplified Flow Chart␈→60⎇-1000⎇⎇Page 57␈←
2274⎇⎇July 20, 1972␈→60⎇-1000⎇⎇ILLUSTRATIONS␈←
2275⎇⎇␈→60⎇0⎇⎇16561⎇␈←␈→60⎇-1000⎇⎇␈←
2276⎇⎇8.0* MOTION ANALYSIS
2277⎇⎇9.0* CONCLUSIONS
2278⎇⎇APPENDIX
2279⎇⎇10.1  Plane Description␈→60⎇-1000⎇⎇Page 66␈←
2280⎇⎇10.2  Rotated Coordinate system␈→60⎇-1000⎇⎇Page 67␈←