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 on-line 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.