Simultaneous planning of the hand position and arm posture of redundant manipulator

-The study of look-ahead search in consideration of joint angular velocity-

Abstract

We have proposed a simultaneous planning method of hand position and arm posture of redundant manipulator to keep its manipulability and its avoidance manipulability. In the conventional method, it is occurred that infeasible control inputs of joint angular velocity are planned. Therefore, a new planning method is proposed where control inputs are planned with the look-ahead search considering the limit of the joint angular velocity in this paper.