Multi-preview configuration control for predictive behavior of redundant manipulator

This paper proposes a new approach named Multi-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method (path planning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. We compare Multi-Preview Control with Single-Preview Control, and verify the effectiveness and validity of Multi-Preview Control through simulations.