Control of Redundant Manipulators Using Reduced-order Model

Abstract

An approach to both resolving the redundancy and controlling redundant manipulators in a unified manner is proposed, The redundancy is resolved by imposing additional constraints on the redundant arm's motion, The constraints may be physical constraints or they can arise from necessary conditions for an optimization problem, The proposed formulation leads to a dynamical model of the manipulator motion described in the reduced-order space, The variables of the reduced-order space may be selected to be the task variables, A control architecture is specified based on the reduced-order model so as to decouple the task space variables and the forces of constraints.