Efficient gradient projection optimization for manipulators with multiple degrees of redundancy

An efficient gradient projection optimization scheme is presented for manipulators with multiple degrees of redundancy. This is an extension of the gradient projection scheme presented by R.B. Dubey et al. (Proc. IEEE Int. Conf. on Robotics and Automation, p.28-36, 1989) for manipulators with one degree of redundancy. The feasibility and effectiveness of this scheme are tested through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator (LTM). Only the position of the LTM end effector is controlled, which requires only three degrees of freedom. The remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide three degrees of redundancy