A prescribed performance referential control for human-like reaching movement of redundant arms

A novel and low-complexity dynamical approach for controlling reaching movements of redundant manipulators is proposed achieving preset performance attributes on the task space error. The iCub platform is used to compare its performance against a multi-referential solution. Simulation results for a 4 degrees of freedom (dof) planar robot are also provided comparing the proposed approach to another velocity based controller. The proposed scheme is shown to exhibit quasi-straight line paths and bell-shaped velocity profiles as well as path and joint configuration consistency in cyclic movements outperforming alternative solutions.