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The SC method is applied to the positioning sub-chain of a seven-DOF with zero joint offsets, such as the MHI PA-10 arm. Via the two vector fields obtained, decoupled motion control of the end-effector and the arm plane, respectively, can be realized. No additional singularities are introduced, and motion through kinematic singularities is stable.
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on (Volume:2 )
Date of Conference: 2-5 Dec. 2002