Global reconfiguration capability evaluation and on-line preview control

This paper shows global reconfiguration capability evaluation for redundant manipulator while its hand tracking target trajectory and the shape avoiding obstacle. In this research, aiming at constructing an automation system that can operate a given task to the arbitrarily shaped target object without preparatory operation, we propose a production system composed of redundant manipulator and movable camera that observe the target´s shape on-line. In such a system, the configuration of the robot should always be prepared to keep the highest avoidance manipulability to evade the object quickly that may appears suddenly in the moving camera view. We evaluated configurations of manipulator by using the index representing Avoidance Manipulability Ellipsoid Shape Index with Potential (AMSIP).