On-line optimization of flexibility and low energy for redundant manipulator

Most of the time a redundant manipulator do not need all the links work hard to perform a given work because of redundancy. It looks like some links play a major role and others give the assistant effect. We consider it could be executed based on a rule of keeping with a high flexibility of the manipulator and using as less energy as possible. Minami's research has already verified the Reconfiguration Manipulability Shape Index (RMSI) can be used to evaluate the manipulator's flexibility. We propose an on-line control method for a redundant manipulator by optimizing its flexibility together with low energy cost using RMSI, and add it with the energy cost function of the joint-path. On-line optimization is solved by using “1-Step GA (Genetic Algorithm)” technique. Simulations of a 4-link redundant manipulator have shown the method can improve flexibility with low energy cost relatively.