Real time control of ANAT robot manipulator using virtual decomposition approach

This paper presents a nonlinear control scheme for a hyper redundant articulated nimble adaptable trunk (ANAT) robot subject to spatial constraints based on virtual decomposition control (VDC). The control strategy was tested on ANAT robot to track a desired trajectory in the workspace space. The pseudo-inverse jacobian matrix is used to transform the rectangle trajectory generated in the workspace to the joints space. The trajectory tracking of seven degrees of freedom robot manipulator is converted to that of each link and that of each joint, respectively. The applicability of the proposed scheme is illustrated in real time validation. The experimental results show the effectiveness of the VDC approach.