Control of Manipulators with Hyper Degrees of Freedom

Shape Control Based on Curve Parameter Estimation

Abstract

In this paper, we propose a new shape control law based on curve parameter estimation for a given parametric curve. The proposed control law includes a very simple and geometrically meaningful estimation law which infers curve parameters corresponding to target joint positions on a curve. Due to this control law, we are able to control shapes of a manipulator without solving any complex nonlinear equations numerically to obtain target curve parameters before starting the control, which is needed for conventional PD feedback control in task space.