This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

To realize the control of redundant manipulators, the concept of the motion optimizability measure is introduced. Wederiveananalytid solution technique for the inverse kinematics of a redundant robot that reduces the computational complexity and does not require the pseudoinverse Jacobian. Based on this techique, we propose an effiaent, kinematic optimal control scheme. We show how to incorporate multiple criteria in the formulation. An on-line implementation ofthesystemthatensuresstableoperationispresented.

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A modified weighted gradient projection method is presented for the optimization of kinematics of redundant robotic manipulators. The method utilizes the matrix weightability measure and the self-motion declinability measure. By these means the weighting matrix and the self-motion amplitude can be determined from the homogeneous solution. Because the optimization method is based on a least-norm solution, it can obtain optimal solutions at low joint velocities. This characteristic has been verified by simulation.