An algorithm for the motion control of complex redundant robot manipulators

A hierarchical controller suitable for the movement coordination of complex and redundant robot manipulators is presented. The algorithm described does not depend on any dynamic system modeling or solving of the inverse kinematical problem. Such knowledge can, however, be taken into account if desired. This is achieved using a performance criterion. With this approach a certain learning behavior can easily be established. This is demonstrated in simulations of the control of a biped locomotive robot system moving in a vertical plane