Configuration control of 7 DOF arms
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1195-1200
- https://doi.org/10.1109/robot.1991.131772
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
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