Resolving kinematic redundancy of a robot using a quadratically constrained optimization technique

The constraints on the physical limit should be considered in a kinematic r edundancy resolution problem of a robot. This paper proposes a new optimiza tion scheme to resolve kinematic redundancy of the robot while considering physical constraints. In the proposed scheme, quadratic inequality constrai nts are used in place of linear inequality constraints, thus a quadraticall y constrained optimization technique is applied to resolve the redundancy. It is shown that the use of quadratic inequality constraints considerably r educes the number of constraints. Therefore, the proposed method reduces th e problem size considerably and makes the problem simple resulting in compu tational efficiency. A numerical example of a 4-link planar redundant robot is included to demonstrate the efficiency of the proposed optimization tec hnique. In this example, simulation results using the proposed method and a nother well-known method are compared and discussed.