H. Seraji et al., MOTION CONTROL OF 7-DOF ARMS - THE CONFIGURATION CONTROL APPROACH, IEEE transactions on robotics and automation, 9(2), 1993, pp. 125-139
Graphics simulation and real-time implementation of configuration cont
rol 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 enviro
nment 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 resolu
tion goals for the 7-DOF arm. The laboratory setup for experimental va
lidation of motion control of the 7-DOF Robotics Research arm is then
described. The configuration control approach is implemented on a Moto
rola 68020/VME bus-based real-time controller, with elbow positioning
for redundancy resolution. Experimental results demonstrate the effica
cy of configuration control for real-time control of the 7-DOF arm.