Arm Control

by Barry Tormey

Submitted : Spring 2012

For this project we will be dealing with arm control. We will be given an arm in which we will derive equations to find the end point of the arm by using specified angles. Once the location for the end-effector is found, we will check to see if it is in a specified region, deemed a “no-touch” to see if we should move the arm out of the region. For this specific project, we will use an arm with three joints, each joint only allowed to move within a specified range. Using the angles made by the three joints, we will be able to calculate the position of the end-effector by summing up the three vectors made by the three joints of the arm. Once these vectors have been calculated and added, we will specify a “no-touch” zone and calculate if the end-effector is in the no-touch zone by substituting in different angles to our derived equation. If the end-effector is in the no-touch zone, we will derive another equation using the shortest distance formula and optimization to find the closest point outside of the no-touch zone.

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