Kinematic control of robots with joint constraints

Kinematic control of robot manipulators requires that joint mechanical limi ts are taken into account in order to avoid the interruption of the task at hand if joint limits are reached. A novel approach to this problem is pres ented and compared with state of the art techniques. The proposed control s cheme allows to explicitly include in the specification of the task positio n, velocity and acceleration constraints for the joints. An application to an existing redundant arm is discussed and experimental results are present ed.