Toward Kinematic Control for Redundant Manipulators with Flexibility Optimization

In this paper, we propose a robot motion control method based on operability optimization. For cooperative robots with redundant degrees of freedom and even super redundant robots (such as elephant nose robots), in the process of motion control, we focus not only on how to achieve the trajectory tracking of the end, but also on how to use the redundant degrees of freedom of the system to make the robot work in a better position. In this process, manipulability is an important representation of robot flexibility. We first construct the angular acceleration satisfying the convergence of terminal error, and then design the acceleration component that can optimize the kinetic energy of the system in the zero space of the robot. The control variables of the system are obtained based on the calculated torque method. Numerical simulation shows the effectiveness of the proposed method.