Cartesian control of redundant robots

This article presents a Cartesian‐space position/force controller for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F ϵ R m and robot actuator torque T ϵ R n (for redundant robots, m < n ). The underdetermined nature of the F → T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F → T map is implemented locally (in time) so that it is computationally efficient for on‐line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F→T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.