Avoidance ability evaluation of redundant manipulators during trajectory tracking control

The paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. A system combining an avoidance control system and preview control system was proposed previously. However, through the simulation studies, it became clear that the shape of the redundant manipulator was not always kept to the best configuration for avoidance. As a solution we suggest a technique to evaluate avoidance manipulability of the whole configuration of the manipulator.