Hierarchical robust motion controller for kinematically redundant manipulator

In this paper, a hierarchical motion controller for a redundant manipulator is proposed. The redundant motion of the manipulator is useful for the dexterous task realization. However, the redundancy resolution in motion controller becomes complicated functions, and it depends on the environment and condition of the sub-task. So the motion controller for the redundancy is expected to decompose each of the motion function into the subsystems flexibly. In this paper, the hierarchical redundancy resolution strategy is derived by using an extended task space formulation. Furthermore, the general expression for the parallel distributed system of a highly redundant manipulator is presented. The validity of the proposed method is confirmed by the several simulation results