Control of Redundant Manipulator using Geometric Constraint Force on the Environment Surface

摘要

Manipulator is widely used in industry. Almost all manipulators are equipped with end-effectors. which are suited for work, and contact with environments through end-effectors at the end link of manipulator. In this paper, a performance improvement method for redundant manipulator contact- ing with environment is presented. The environment inside of the space occupied by manipulator usually becomes an obstacle for manipulation. The redundant manipulator is useful to avoid collisions and meant to track a target at the other side of obstacle. But required actuator torques is easy to be short because of increase of parts of manipulator. To settle this problem, We propose the method that the redundant manipulator contacts with not only end-effector but intermediate points on some manipulator links. Redundant manipulator system is formulated kinematically in this paper. Contacting points are made to move along on environment surface, receive reaction force from environment to keep constraint on the environent surface.