Control of redundant robots based on the motion optimizability measure

Abstract

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.