Method and apparatus for configuration control of redundant robots

摘要: A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of forward kinematics. set kinematic functions is defined in Cartesian joint space reflect desirable that will be achieved addition specified end-effector motion. The user-defined coordinates are combined form task-related variables as generalized for manipulator. task-based adaptive scheme then utilized directly so achieve tracking some desired reference trajectories throughout This accomplishes basic task motion, while utilizing redundancy any additional through time variation functions. present invention can also used optimization objective function, satisfaction inequality constraints, an obstacle avoidance problem. In contrast pseudoinverse-based methods, ensures cyclic manipulator, which essential requirement repetitive operations. law simple computationally very fast, does not require either complex dynamic model complicated inverse transformation. alternatively implemented space.