Abstract
This paper proposes a dynamics-based control for redundant manipulators named the redundancy utilization in rate and acceleration (RURA) method. The RURA method calculates the desired joint trajectory satisfying the first subtask, i.e., a desired end-effector trajectory, and the required second subtask with an additional criteria to optimize the configuration. The second subtask is achieved by utilizing the redundancy in the motion rate and acceleration of joint variables. The RURA method then realizes a dynamics-based control based on a computed torque method. The RURA method can be extended to a resolved acceleration control and an impedance control. The RURA method is compared with the configuration control (CC) and the redundancy utilization in motion acceleration (RUMA) method that are commonly used. The RURA method overcomes problems of the CC and the RUMA method. Feasibility of the proposed method is examined by numerical simulations.
