A new method for the solution of the inverse kinematics of redundant robots

An algorithm for the solution of the inverse kinematic problem of the redundant robots is presented. The method has the advantage of generating efficient symbolic solution from the number-of-operations point of view; it gives the null space solution with a computational cost comparable to that of the pseudoinverse solution. The given method can be used to provide most of the optimization criteria used in the literature; an exact solution is proposed for most of them