Multi-level constraints of redundant manipulator handled by different trajectory tracking

A new control strategy for redundant robot motion control is proposed in this paper. In this strategy, the robot manipulator can track different trajectory precisely submitting to a multi-level constraints model. The significant physical quantity, namely, torque of the motor, is considered in this multi-level constraints model. Besides, to track the different path effectively, a control law has been set as the system input. In order to verify this model, we simulate this model to resolute the redundant robot kinematics. The simulation results show that this method can realize the trajectory tracking effectively, especially on the aspect of the straight line motion tracking and circular motion tracking.