Study on Kinematics Optimization of Redundant Manipulators

This paper studies the kinematics optimization of redundant manipulators. Based on the relationship between self-motion variable and Jacobian null-space vector, a new method for choosing self-motion variable of redundant manipulators is proposed; Using linearization, a unified formulation of kinematics performance criterion is introduced and its analytical form in terms of self-motion variable is deduced. With the knowledge of nonlinear feedback control, an optimal control system using self-motion variable as system state is established. The proposed algorithm is characterized by less computation and great capability of optimization compared with least-norm solution and GPM etc. The feasibility of the proposed algorithm is demonstrated by computer simulation results