Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points

The growing research area of physical Human–Robot Interaction (pHRI) claims for safe robot control algorithms in the presence of humans. Managing kinematic redundancy via fast techniques is also mandatory for interaction tasks with humans. It is worth noticing that control points on a manipulator can change, e.g., depending on possible multiple collisions (intentional or accidental) with the interacting users. An approach is presented for changing the control point in real time with corresponding proper inverse kinematics. Whole-body modelling is adopted for such a task. A simulation case study is proposed.