Quasioptimal control of space redundant manipulators

摘要

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 criterion to optimize the configuration. ^The second subtask is realized by utilizing the redundancy in the motion rate and acceleration of joint variables. ^By the computed torque method, the dynamics-based control is then realized. ^The RURA method can be extended to a resolved acceleration control and an impedance control. ^All of them can manage the subtask that is realized by using the redundancy. ^The RURA method is compared with the configuration control and the redundancy utilization in motion acceleration (RUMA) method that are commonly used. ^The RURA method overcomes problems of the configuration control and the RUMA method. ^The feasibility of the proposed method is examined by numerical simulations. ^(Author)