Behavior of a minimum-effort control algorithm for a multi-jointed robotic arm

Abstract

The authors explore the behavior of a minimum-effort control algorithm, developed for a multi-jointed robotic arm, operating in an environment with obstacles. The algorithm generates several humanlike arm movement strategies and selects the best strategy on the basis of expendable effort. The algorithm has an inherent basis for dealing with obstacles in an efficient manner. It finds the entire solution space, that is, the joint positions for reaching a desired end-effector position. The control algorithm implementation results are given. It has been observed that cooperating robotic joint motion has a significant degree of concurrency; thus, parallel processing techniques are implementable.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>