Motion Control of a Redundant Robot by Stratifying Its DOF

Abstract

This paper proposes an motion control issue for a redundant serial-linkage manipulator by stratifying degrees of freedom of the robot to number of fundamental motion blocks. Since the lightweight blocks near the end-of-arm actively moves using manipulability index, advantages like less driving power and improved dynamic performance can be expected in the proposed method. Experiment using a redundant manipulator comprised with a 6 DOF manipulator and a 3 DOF finger was made to demonstrate the effectiveness.