抄録
This paper proposes a new method for dynamic control of redundant manipulators via artificial potential field approach (APFA). The proposed method is based on the APFA with a combination of a time scale transformation and a time base generator which works as a time scale compressor. The dynamic behavior of the manipulator can be controlled by using the proposed method without any change of the form of the designed controller itself. The effectiveness of the proposed method is verified by computer simulations for redundant manipulators.
