OPTIMUM MOTION CONTROL OF A REDUNDANT ROBOT WITH THE OBJECTIVE FUNCTION OF DEXTERITY

This paper describes an optimum motion control method for robotic seri al manipulators with multiple redundant degrees, of freedom. The manip ulability measure, which is given by a function of the Jacobian matrix concerning the position and posture of the end effector of a serial m anipulator, is proposed as the index to evaluate the dexterity of the manipulator, and it is defined as most dexterous when the manipulabili ty measure takes the maximum value. New methods to drive serial manipu lators most dexterously, namely the optimum CP control methods with an d without consideration of the posture angle of the end effector, are proposed and experimentally examined for planar 3R-, 4R- and 5R-redund ant manipulators. Consequently, a better result was obtained by the op timum CP control method with consideration of the posture angle than b y the method without consideration of the posture angle: the manipulat ors were driven most dexterously over most of the driving range, and h igh response was obtained.