Sg. Ma et al., DYNAMIC REDUNDANCY RESOLUTION OF REDUNDANT MANIPULATORS WITH LOCAL OPTIMIZATION OF A KINEMATIC CRITERION, Advanced robotics, 10(1), 1996, pp. 65-80
To consider the dynamic effects of redundancy resolution in redundant
manipulators, the inverse kinematics of the redundant manipulator must
be resolved at the acceleration level, focussing mainly on using sele
ctive dynamic criteria to resolve the redundancy. These local dynamic
redundancy resolution techniques reveal some instability problems due
to the high joint velocities. The buildup of high joint velocities is
due to the lack of a kinematic criterion in the local optimization pro
cess to reflect the changes of joint velocities. In order to avoid ins
tability due to high joint velocities, this paper proposes dynamic red
undancy resolution techniques (SMV and SMTV) which locally optimize th
e performance function, including a kinematic criterion as the norm of
joint velocities to reflect the changes of joint velocities. These pr
event the occurrence of high joint velocities and guarantee that joint
velocities at end of motion are near zero. In addition, the redundanc
y is resolved at the joint acceleration level to consider the manipula
tor dynamics and the effect of kinematic criterion on the manipulator
joint torques. Computer simulations were performed on a three-link pla
nar rotary manipulator to verify the performance of the proposed dynam
ic redundancy resolution techniques and to compare its performance wit
h existing local dynamic redundancy resolution techniques.