Activity 2. Read the text.

Robotic Manipulation

The HRL Manipulator's two "fingers”.

Apparatus
The HRL Manipulator consists of two two-link "fingers," each with three
degrees of freedom. Each of the finger's links rotates in the plane parallel to the

work surface and the entire finger can be moved perpendicular to the worksurface.
The actuation is provided by six servomotors that communicate with a computer
via the RS-232 serial protocol. In addition, there is a camera mounted above the
worksurface used to track the movements of the manipulator and the objects,
which are being manipulated.

The camera's view of the fingertip membrane dots.

Each finger has a tactile sensor attached to its end, which consist of a
compliant fingertip made from a latex membrane filled with silicone. When the
fingertip deforms, a set of dots drawn on the inside of the membrane moves. The
new location of the dots is captured by a small camera mounted inside the
fingertip. The image taken by the camera is processed to determine the location of
the dots on the image plane. We use these 2-dimensional coordinates along with a
physical model of the fingertip to determine the dots' locations in 3-dimensional
space. This provides information about the shape of the fingertips, which can be
used as feedback in our manipulation algorithms.
Motion Description
A fundamental question that is addressed in this research is how best to
describe motions. The task of programming a robot can often be time-consuming
and specific to the hardware that is being used. In this case, motions are described
in terms of specific commands that control the robot's hardware and are not
portable to other robots. It would be convenient to have a machine-independent
language for describing motions that a robot performs.
Programming convenience is not our only goal, however. We desire to
establish a mathematical framework for describing motion in general. Our strategy
involves combining motion segments or "atoms" composed of open-loop and
closed-loop control laws into motion programs which are executed by the robot.
Such a framework would be useful in the formulation of problems involving the
amount of information necessary to describe a motion. These problems include the
minimization of data required to control a robot (e.g. in space robotics) and the
design of robots for tasks whose motions are required to be described with a
minimum of instructions.
Activity 1. Make a plan of the text.

Activity 2. Write down the keywords from each part of the text (написать
ключевые слова или фразы к каждой части текста).
Activity 3. Write main sentences for each part of the text (2-3 sentences).
Activity 4. Translate the text in written form.