Motion control of 7-DOF arms: the configuration control approach

Author

Seraji, Homayoun ; Long, Mark K. ; Lee, Thomas S.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

9

Issue

2

fYear

1993

fDate

4/1/1993 12:00:00 AM

Firstpage

125

Lastpage

139

Abstract

Graphics simulation and real-time implementation of configuration control schemes for a redundant seven-degree-of-freedom (7-DOF) Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is 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. 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

Keywords

digital simulation; kinematics; manipulators; position control; real-time systems; 7-DOF arms; Robotics Research arm; Silicon Graphics IRIS Workstation; collision avoidance; configuration control; elbow control; graphics simulation; kinematics; motion control; optimal joint movement; real-time; redundancy resolution; Arm; Computational modeling; Computer graphics; Elbow; Iris; Kinematics; Motion control; Robots; Silicon; Workstations;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.238277

Filename

238277