Arm trajectory planning by controlling the direction of end-point position error caused by disturbance

The present paper proposes the control algorithm of direction of the end-point position error caused by the disturbance. Taking consideration of it, the effect of the disturbance on the end-point position is maximized in the direction of the singular vector corresponding to the maximum singular value. Therefore, if we can control the direction of the singular vector, we will be able to control the direction of the positional error of the end-point position steered by the disturbance. We propose the control algorithm of the direction of the positional error and the effectiveness by applying the algorithm to the hitting motion by the robotic arm.