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From: jpexg@rice-chex.ai.mit.edu (John Purbrick)
Newsgroups: comp.robotics
Subject: Re: High Accuracy manipulators
Keywords: accuracy, position control vs. force control
Message-ID: <10459@life.ai.mit.edu>
Date: 6 Sep 90 05:06:39 GMT
References: <5829@hplabsb.HP.COM> <29067@netnews.upenn.edu> <5832@hplabsb.HP.COM>
Sender: news@ai.mit.edu
Organization: MIT Artificial Intelligence Laboratory
Lines: 18

In article <5832@hplabsb.HP.COM> mgsmith@hplabsb.UUCP (Michael Smith) writes:
>.....I have never seen force 
>compliance used in an actual application, not because it is unavailable,
>but because it is not as needed as other technologies.
>
>......
>Mike "my favorite project was a robotic bartender" Smith
>HP Labs

Well, since you lead up to it--I made a system a few years ago which would 
visit a row of paper cups one at a time and pinch them with a force-sensing
servo controlled gripper. It could reliably tell the difference between single
cups and double cups (one inside another). The idea was to build a pyramid out
of the cups but I never got around to it.

Think how this could revolutionize the bartending field!

--John Purbrick