Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

This paper proposes trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. We propose two evaluation indexes of whole shape of the redundant manipulators. First one is sum of singular value of avoidance matrix. Second one is sum of the volume of avoidance manipulability ellipsoid. We evaluate whole manipulator´s shape by two indexes and compare the ability. We found the second one is better than the first. We call the second index avoidance manipulability shape index (AMSI). Finally, by using AMSI, we construct trajectory tracking/obstacle avoidance control system. And we confirm the performance of trajectory tracking by simulations.