Torque reduction method for redundant manipulator

摘要

Redundant manipulators are used to avoid collisions and conduct motion in which all manipulator links avoid the obstacle in work space. The manipulator changes position by adjusting a redundant degree of freedom, simultaneously, but joint torque saturates and error at the end point increases with the number of components. We propose bracing control to contact the intermediate point of the redundant manipulator with the environment and to use contact force as equivalent control input to compensate for joint torque. We verify the effectiveness of our proposal through simulation.