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3.
Manipulation
directions. Restricting the arm to a small set of stereotyped
motions makes calibration or learning of the manipulator's
inverse kinematics easier since we only have to solve for these
special cases. Figure 3-10 shows the 10 local directions of
motion used for both local and global control of
the
arm. These
motions are all in the vertical plane which is the arm's
workspace and are the only directions required for proper
operation of the arm.
3.5 Controlling the arm globally
So far we have discussed reactions which occur relative to the
hand
itself.
The robot also has several behaviors which
coordinate movement relative t