Redundancy Resolution of Robot Manipulators Using Optimal Kinematic Control

Ab3tractGlobally optimal redundancy resolution in robot manipulators has been at t racted research interests and investigated with eager. Some researchers have attacked t h e redundancy resolution with optimization techniques and others with Pontryagin's principle. In this paper, as an another approach w e propose the optimal kinematic control. The formulation is: first to convert the redundancy resolution problem t o an optimal control problem, and to obtain the globally optimal resolution of redundancy by using the necessary conditions of optimal control. As a result, we get 2n 5rst-order partial differential equations and corresponding boundary conditions. I t is shown that these 2n equations are equivalently converted to n second-order differential equations resolving the redundancy in joint acceleration level.