Control of redundant robot manipulators using the time-derivatives of manipulability

조작 성능 지수의 시간 변화율을 고려한 여유 자유도를 갖는 로보트의 제어 방법

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulator by increasing the manipulability. The method, however, requires exprecessive energy and gives rather large tracking errors since the manipulability is increased repidly so that the manipulator avoid the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.