Abstract
This paper shows global reconfiguration capability evaluation for redundant manipulator tracking target trajectory and avoiding obstacle control. In this research, one approach for an automation system composed of redundant manipulator and movable camera on-line being able to operate for unknown objects without any preparations is proposed. In a such system, the configuration of the robot should always be prepared to keep the highest avoidance manipulability to evade the object quickly that may appears suddenly in the moving camera view. We evaluated configurations of manipulator by using the index representing Avoidance Manipulability Ellipsoid Shape Index with Potential (AMSIP).
