Solution of human-like redundant manipulator mounted on flexible body for task-space feedback control

In this paper, the concept of the 'robust arm configuration' (RAC) is expanded to the redundancy solution of a redundant manipulator mounted on a flexible body for task-space feedback control. The RAC measure is used to determine the redundant degree of freedom of the manipulator. If the arm configuration is near or on the RAC, a high-gain task-space feedback using Jacobian transpose can be applied without considering the base flexibility, i.e., additional sensor or solution of a whole inverse dynamics are not necessary. It leads to the separation of the manipulator control and the mobile base control without losing the stability. The validity is confirmed by a numerical example performed with a 4 DOF human-like redundant manipulator mounted on a 1 DOF flexible base. The arm angle is determined for a desired tip position based on the RAC measure.