Multi-preview configuration control for redundant manipulator by future reachability evaluation

This paper proposes a new approach to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators without prechecking path-planning in whole trajectory tracking. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. In this paper, we present a new idea: Multi-Preview Control, which uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance online with high avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations of comparing single-preview control with multi-preview control.