Kinematic redundancy can be used to avoid time-varying obstacle while completing a specified task, i.e., end-effector trajectory tracking. The vast majority work to date concerned with obstacle avoidance for kinematically redundant manipulators has dealt with unconstrained torques and has considered only manipulator kinematics.
In this thesis, a new dynamic control method for redundant manipulators is proposed. The proposed scheme gives less torques than those of conventional dynamic control methods for the trajectory tracking, so that more torques for obstacle avoidance can be available within specified torque limits. Using the dynamic control method, we present an algorithm which enables trajectory tracking as well as obstacle avoidance of the manipulator with torque bounds. The algorithm also consists of giving up trajectory tracking in case a collision is unavoidable. Simulation results show that the proposed control scheme gives satisfactory performance.
