Reconstruction of inverse kinematic solution subject to joint kinematic limits using kinematic redundancy

Various physical limitations which intrinsically exist in the manipulator inverse kinematic system, for example joint travel and velocity limits, cause some undesirable effects. Specifically, when one or more joints are limited the desired task velocity can not be anticipated. The effect of joint kinematic limits, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the inverse kinematic solution using the redundancy is proposed based on the kinematically decoupled modeling of redundant manipulators. It results in no error in the task motion at the cost of the least error in the null motion. Numerical simulations help to verify the advantages of the proposed scheme