抄録
This paper presents an efficient control approach for redundant manipulators using a torque-based formulation. First, the manipulator with redundant degrees of freedom is decomposed into several non-redundant subsystems. Then, each of these subsystems is analyzed for the conditioning of the respective Jacobian matrix, considering the dynamic performance. Thus a set of possible solutions is constructed. Further on, the formulation of the proposed redundancy resolution control is realized using the relation between the joint torque and the given end-effector acceleration (torque-based formulation). The approach is suitable for parallel processing, and real-time dynamic redundancy control of redundant manipulators is possible. Numerical simulations have been performed to show the effectiveness.
