A hybrid algorithm for the kinematic control of redundant robots

Based on both Paden-Kahan subproblems and joint rate control approach, This work presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special joints to let the robots are non-redundant, finally, Paden-Kahan subproblems is utilized to solve residual joints. Therefore, we can get closed-form solutions of robots at position level. Comparing with the numerical iterative method that is a control algorithm with position level, hybrid algorithm is computation effective relatively. The effectiveness of the proposed algorithms has been demonstrated by a 7-DOF serial robot for the avoidance of joint angle limits.