Title :
Configuration control of 7 DOF arms
Author :
Seraji, H. ; Long, M. ; Lee, T.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Applications of the configuration control approach to motion control of redundant 7 DOF (degree-of-freedom) arms are described. This approach provides a unified framework for resolution of redundancy to accomplish a broad range of objectives. The configuration control approach is briefly described, and a graphics simulation environment for control of 7 DOF Robotics Research arms is discussed. Computer simulation results are presented to demonstrate elbow control, obstacle avoidance, and optimal joint motion as redundancy resolution goals for the 7 DOF arm
Keywords :
position control; redundancy; robots; 7 DOF arms; 7 d.o.f. arms; Robotics Research arms; configuration control; elbow control; motion control; obstacle avoidance; optimal joint motion; redundancy; Arm; Computational modeling; Computer graphics; Laboratories; Manipulators; Motion control; Paper technology; Propulsion; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131772
