Real time tracking trajectory in workspace for ANAT robot manipulator using hierarchical control

In this paper, a strategy of control is presented to track a desired trajectory in workspace for a hyper redundant articulated nimble adaptable trunk (ANAT) robot. The pseudo-inverse of the Jacobean is used to ensure the transformation of the desired trajectory from workspace to joint space. The control strategy consists of controlling the last joint by assuming that the remaining joints follow their desired values. Then we go backward for the (n-1)-th joint by following the same strategy, and so on until the first joint. In each step, the feedback linearization approach is used to develop the control law. This algorithm was experimented on a 7 DOF ANAT manipulator and gave effective results and good tracking in the robot´s workspace.