A Kinematic Control Method of Redundant Manipulator for the Avoidance of Joint Position and Velocity Limits

여유자유도를 갖는 로보트의 관절변수의 위치 및 속도 제한범위 회피를 위한 기구학적 제어방법

A kinematic control method for the redundant robot manipulator is proposed, where redundancy is utilized to avoid the limit of joint positions and velocities. For the given tadk, the joint positions are obtained in such a way that each joint is placed as close to its center point as possible by considering the velocity limit. The robot is, therefore, controlled so that the joints move with the acceptable velocities and lie within the reachable ranges. To show the validities of the proposed method, two examples are illustrated by computer simulations for the RHINO-XR robot with sliding base.