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A Discussion of Manipulator Programming
AL The Anatomy of a Manipulator Language
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accuracy affix ALGOL approach arm solutions Artificial Intelligence Laboratory assembly assembly language assertions automatic coding automation axis Chapter coding decisions compiler Computer Science Report constraint equations coordinate system data structures degrees of freedom described DETERH TEHPLATE discussed error execution expression fixture formal language frame free variables grasp the pin grasping position hand inches insertion instance Intelligence Laboratory Memo iteration Jerome Feldman language linear linear programming loop manipulator programming maxel motion statements move blue move pin node object models operations orientation parameters pin-in-hole PL/I planning information planning model planning values possible problem procedure produce programming system PV YHAT*R Raphael Finkel relation representation represented rotation runtime system S.SS scalar screw Section sequence specify Stanford Artificial Intelligence Stanford Computer Science Stanford Research Institute strategy SUBPART surface tape recorder mode task task-level techniques TEHPLATE IS FULLY trajectories updated VECTOR XHAT XHAT*R YHAT