Clamping weighted least-norm method for the manipulator kinematic control: Avoiding joint limits

This paper presents the clamping weighted least-norm(CWLN) method for an inverse kinematic control of manipulators. The CWLN method combines the weighted least-norm technique with a clamping concept, which guarantees the join limits by damping the direction towards limits and forcing the joints away from their limits. Continuous weighted factor is used to improve the robustness of algorithm, and ensure the continuity of solution. The main task accuracy is sacrificed if necessary, to satisfy the joint-limit constraints. A simulation on the seven-degree-of-freedom(7 DOF) redundant manipulator illustrates the good performance for avoiding joint limits while tracking a given trajectory.