Motion control of 7-DOF arms: The configuration control approach
- California Inst. of Tech., Pasadena, CA (United States). Jet Propulsion Lab.
Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is then followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals for the 7-DOF arm. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola 68020/VME bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control of the 7-DOF arm.
- OSTI ID:
- 5839144
- Journal Information:
- IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 9:2; ISSN 1042-296X
- Country of Publication:
- United States
- Language:
- English
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