The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators

[+] Author and Article Information
D. E. Whitney

Massachusetts Institute of Technology, Cambridge, Mass.

J. Dyn. Sys., Meas., Control 94(4), 303-309 (Dec 01, 1972) (7 pages) doi:10.1115/1.3426611 History: Received August 01, 1972; Online July 13, 2010


The problems of coordinated rate control and position control of multidegree-of-freedom arms are treated together in this paper. A mathematical formulation is presented which allows real time computer-assisted rate control under a variety of external coordinate systems. A new solution to the endpoint position control problem is given, allowing the arm to be driven to a final position specified in meaningful external coordinates without the corresponding final joint angles being known. Attention is given to redundant arms, to the possibility of singularities, and to the relation between this work and dynamic control of arms.

Copyright © 1972 by ASME
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