DYNAMIC REDUNDANCY RESOLUTION OF REDUNDANT MANIPULATORS WITH LOCAL OPTIMIZATION OF A KINEMATIC CRITERION

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.