On-line optimization of flexibility and low energy for redundant manipulator

Most of the time a redundant manipulator do not need all the links work hard to perform a given work because of redundancy. It looks like some links play a major role and others give the assistant effect. We consider it could be executed based on a rule of keeping with a high flexibility of the manipulator and using as less energy as possible. Minami´s research has already verified the Reconfiguration Manipulability Shape Index (RMSI) can be used to evaluate the manipulator´s flexibility. We propose an on-line control method for a redundant manipulator by optimizing its flexibility together with low energy cost using RMSI, and add it with the energy cost function of the joint-path. On-line optimization is solved by using “1-Step GA (Genetic Algorithm)” technique. Simulations of a 4-link redundant manipulator have shown the method can improve flexibility with low energy cost relatively.