Unifying robot arm control
Abstract
A unified approach to three stages of robot arm control is presented based on the NewtonEuler equations of motion. The stages unified are resolved motion, gross motion, and fine motion. Apart from the conceptual advantage, this unification can require less computation than if the three stages are computed separately. In particular, fewer computations are required for arms with no more than about a dozen joints (a number unlikely to be exceeded for most arms, at least in the near future). Computation times are estimated assuming the computing elements are fabricated from current (very largescale integrated circuit) (VLSIC) technology. It is also shown how friction can be incorporated into the unified approach. The concept of 'pseudoforce' is introduced to relate fine motion to the NewtonEuler equations.
 Publication:

IEEE Transactions on Industry Applications
 Pub Date:
 December 1984
 Bibcode:
 1984ITIA...20.1554M
 Keywords:

 Arm (Anatomy);
 Dynamic Control;
 Joints (Anatomy);
 Robot Control;
 Robots;
 Very Large Scale Integration;
 Cartesian Coordinates;
 Coriolis Effect;
 Euler Equations Of Motion;
 Torque;
 Engineering (General)