Avoidance ability evaluation of redundant manipulators during trajectory tracking control

This paper is concerned with trajectory tracking and abstacle avoidance Control using avoidance manipulability of redundant manipulators. A system combined all aboidance control system and preview control system wits proposed last year. However, through the simulation studies. last year, it became clear that the shape of redundant, manipulator was not always kept to the best configration it order for the avoidance. As ilk, solution. we, suggest it technique to evaluate aboidance. manipulability of the whole configration of manipulator.