Avoidance Ability Evaluation of Redundant manipulators During Trajectory Tracking Control

Abstract

This paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. A system conbined an aboidance control system and preview control system was proposed last year. However, through the simulation studies in last year, it became clear that the shape of redundant manipulator was not always kept to the best configration in order for the avoidance. As the solution, we suggest a technique to evaluate aboidance manipulability of the whole configration of manipulator.