Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors

This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. The formulated condition satisfaction in the robot configurational space leads to precise trajectory tracing in the working zone (coincidence of the sensibility direction with the trajectory tangent vector). An illustrative example is presented and the explicit results are shown. The group theory application completes the considerations and it is helpful for better mechanical interpretation