TASK-ORIENTED VARIABLE CONTROL OF MANIPULATOR AND ITS SOFTWARE SERVOING SYSTEM

Abstract This paper describes the mathematical model of a manipulator and the software servo that controls the manipulator in a task-oriented coordinate system. A motion of the manipulator is decomposed into the six components of task-oriented coordinates, each of which is independently controlled as virtual manipulator freedom. The servoing method frees us from the physical manipulator mechanism and enables us to control the manipulator in any task-oriented coordinate system. It reduces the complexity of description of manipulations, especially in the case where motion is partially constrained.