On-line configuration-optimizing control of redundant manipulator based on AMSIP

This paper is concerned with real-time trajectory tracking and obstacle avoidance control using the avoidance manipulability of redundant manipulators. We had proposed a new index to evaluate the shape-changing ability in the configuration space while the manipulatorpsilas hand tracks a desired trajectory. Using this index we construct a new real-time configuration control system with the preview evaluation by introducing an imaginary manipulator at future time. The proposed system has been evaluated by several simulations and real experiments on the view points of real-time configuration optimization and feasibilities of the whole control system.