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Automation of the control of complex systems has been achieved through the application of computers using such tools as closed-loop control, finite-state machines, etc. However, a number of tasks in the control of such processes must still be performed by human operators, resisting conventional automation efforts. These tasks usually involve unforeseen(More)
If robots had the capability of supplying ma­ chines with workpieces which are not preoriented, there would be a substantial increase in the num­ ber of robots used in industry. A significant contribution to this development would be a method which yields a trajectory whereby such a robot held workpiece can be transported from its recep­ tacle to a machine(More)
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