Mechanical Arm Control (opens in new tab)

Mechanical Arm Control Waters, Richard C. This paper discusses three main problems associated with the control of the motion of a mechanical arm. 1) Transformation between different coordinate systems used to describe the state of the arm. 2) Calculation of detailed trajectories for the arm to follow when moving from point A to B. 3) Calculation of the forces that must be applied to the joints of the arm to make it move along a specified path. Each of the above problems is amenable to exa...