Bracing control of redundant manipulator

摘要

We propose the method that the redundant manipulator contacts with not only end-effector but intermediate points on some manipulator links. It is not easy to get optimal solution because system of Redundant manipulator changes in the discontinuity by bracing. And when the manipulator is bracing with an environment surface, the performance isn't always better. We propose the controller for bracing manipulator and lead the condition to deside the manipulator contact with an environment or not.