抄録
This paper proposes a control method for multi-point contact of a redundant serial-link robot with collision avoidance between an object and the robot. A redundant robot can move with dexterity using redundancy, which is extra degree of freedom. We derive a kinematic model of the robot system and propose a controller using kinematic redundancy. The controller consists of the two parts. One is tracking desired positions and the other is avoiding collision. We analyze a feature of redundancy of the system and design the part for collision avoidance considering the feature. In our proposed method, the controlled points simultaneously track the desired trajectory by proposed method and the collision avoidance of each part is accomplished without trade-off between the parts using the feature of redundancy of the system. Simulation results show the effectiveness of the proposed method.
