Motion chaos in the pseudoinverse control of redundant robots

When a manipulator is redundant, it is anticipated that the inverse kinematics admits an infinite number of solutions. Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems the paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirms the nonlinear and chaotic performance of the algorithm and gives a deeper insight towards the future development of superior trajectory control systems.