Configuration control of 7 DOF arms
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.<<ETX>>