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                        USEFUL REFERENCES 

                          compiled by
                        Victor Scheinman

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   Stark  Draper  Laboratory,  Inc.  Cambridge, Mass.

9)       Autonomous   Manipulatiion   on   a   Robot:    Summary   of
         Manipulator Software Functions by R.A. Lewis. NASA Technical
         Memorandum  33-697,  Jet  Propulsion  Laboratory,  Pasadena,
         Calif.  March 15, 1974

10)	Al, A Programming System for Automation.   by Raphael Finkel,
	Russel Taylor, et al.  Stanford Artificial Intelligence  Lab.
	Memo AIM-243.  November 1974.