{"type":"ScholarlyArticle","title":"A Practical Manipulator System","authors":[{"name":"B. Dobrotin","slug":"b-dobrotin","given":"B.","family":"Dobrotin","affiliation":""},{"name":"R. A. Lewis","slug":"r-a-lewis","given":"R. A.","family":"Lewis","affiliation":""}],"abstract":"This paper describes the development of a practi c al manipulator system. The manipulator requ ir ements dictated by space exploration, the functional elements which meet those requirements, and the problems encountered in implementing those requirements are discussed. The paper focuses primarily on the implementation of the functional elements and the real world problems encountered by the manipulator system, as opposed to the specific algorithms and equations, since we feel that these two factors are underemphasized in the literature. Specific topics discussed include user interfaces, trajectory planning, safety and obstacle avoidance, and link motion control. Impl ementation emphasis has been placed on flexibility, minimizing complexity, and increasing reliability.","doi":null,"url":"https://ijcai.org/proceedings/1977/174","pdf":"https://ijcai.org/proceedings/1977/0174.pdf","markdown":"https://ijcai.org/proceedings/1977/174.md","bibtex":"https://ijcai.org/proceedings/1977/bibtex/174","volume":{"slug":"1977","title":"Proceedings of the Fifth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1977","url":"https://ijcai.org/proceedings/1977/","year":1977,"location":"Cambridge, MA, USA","dates":"","editors":"Raj Reddy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":174,"pages":{"first":723,"last":731},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}