Trajectory tracking control redundant manipulators based on avoidance manipulability

This paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. Our previous researches, we proposed a robot control system to deal with unknown object by combining an avoidance control system and preview control system. However, through the simulation studies, it became clear that the shape of redundant manipulator was not always kept to the best configuration on the view point of the avoidance ability. In this presentation we define an evaluation method of the ability to avoid obstacle while tracking hand desired trajectory by evaluating the whole shape of the redundant manipulator. Finally, we suggest a control system that the manipulator can keep high avoidance ability.