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

@article{Seraji1993MotionCO,
  title={Motion control of 7-DOF arms: the configuration control approach},
  author={Homayoun Seraji and Mark K. Long and Thomas S. Lee},
  journal={IEEE Trans. Robotics and Automation},
  year={1993},
  volume={9},
  pages={125-139}
}
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… CONTINUE READING

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