---
title: "Trajectory Control of a Computer Arm"
authors:
  - "Richard Paul"
doi: ""
url: "https://ijcai.org/proceedings/1971/39"
pdf: "https://ijcai.org/proceedings/1971/0039.pdf"
venue: "Proceedings of the Second International Joint Conference on Artificial Intelligence"
year: 1971
pages: "385-389"
track: ""
keywords:
---

# Trajectory Control of a Computer Arm

Richard Paul

*Proceedings of the Second International Joint Conference on Artificial Intelligence*, pages 385-389.

## Abstract

This paper describes the programming of a computer controlled arm. The programming is divided logically into planning and execution. Communication between planning and execution is by a data file which specifies the arm trajectory with respect to time, and actions that the arm should perform. The servo program which moves the arm along the trajectory is based on Legrangian mechanics and takes into account coupl ing between links, and the variation of inertial loading with change of arm configuration.