Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects

This paper presents a method to minimize the task completion time of a manipulator system in a multiple-goal task by considering the existence of position errors of objects that may change the manipulator pose (position and orientation) and cause collisions. In this paper, we propose a method which cannot only reduce this change but also minimize the task completion time of the system. The proposed method resolves the redundancy of the system and the redundancy in the given task using Particle Swarm Optimization under a manipulability restriction. The proposed method is verified through simulations and is shown to be effective.