Quasioptimal control of space redundant manipulators

This paper proposes a dynamics-based control for redundant manipulate,rs named the redundancy utilization in rate and acceleration (RURA) method. The RURA method calculates the desired joint trajectory satisfying the first subtask, i.e., a desired end-effector trajectory, and the required second subtask with all additional criteria to optimize the configuration, The second subtask is realized by utilizing rile redundancy in the motion rate and acceleration of joint variables. By the computed torque method, the dynamics: based control is then realized. The RURA method carl be extended to a resolved acceleration control and an impedance control. All of them can manage the subtask that is realized by using the redundancy. The RURA method is compared with the configuration control and the redundancy utilization in motion acceleration (RUMA) method that are commonly used. The RURA method overcomes problems of the configuration control and the RUMA method. Feasibility of the proposed method is examined by numerical simulations.