A kinetic redundancy resolution with local optimization of a kinematic criterion

To avoid instability due to high joint velocities, a kinetic redundancy resolution technique that locally optimizes a kinematic criterion to reflect the changes of the manipulator configuration is proposed. The manipulability measure is selected as the kinematic criterion in the local redundancy resolution. It measures how large a manipulator end-effector velocity can be obtained from the given joint velocities, and represents the ease of arbitrarily changing the position and orientation of the manipulator end-effector. The redundancy is resolved at the joint acceleration level to take into account the manipulator dynamics and the effect of this criterion on the manipulator joint torques. Results are reported of computer simulations performed on a three-link planar rotary manipulator to verify the performance of the proposed kinetic redundancy resolution and to compare its performance with three existing redundancy resolution techniques for various straight-line trajectories