A Modified DLS Scheme With Controlled Cyclic Solution for Inverse Kinematics in Redundant Robots

Redundancy in robotic manipulators has many advantages. It is successfully used to achieve better dexterity, and avoid obstacles, singularities, or the kinematic limitations. However, redundancy makes inverse kinematics (IK) problem harder solve. The damped least squares (DLS) a powerful method for calculating IK of redundant robots, but it suffers from noncyclicity issue, where closed curve motion Cartesian space end-effector (EEF) does not map into joint space. This results nonrepetitive space, even though EEF repetitive. In this article, we present solution DLS method. proposed scheme was tested both simulation (9 DoF robot) on real manipulator (7 robot).