Advanced motion control in redundant motion systems

As each joint actuator of a robot manipulator has a limited value of torque, the motion control system should consider the torque saturation. This paper proposes the new autonomous consideration method of joint torque saturation for robust redundant manipulator motion control. The proposed method consists of a torque limitation algorithm in the joint space, an adjustment algorithm of the motion control in Cartesian space, and an adjustment algorithm of the motion reference in Cartesian space. The redundant manipulator motion control using the proposed algorithms well realizes the smooth and robust motion response.