The design of repeatable controls for kinematically redundant robots

Two methods of generating control strategies which are repeatable are presented. The first method, which involves the solution of a set of partial differential equations, may be difficult to apply to complicated manipulators, thus motivating the second method, which assumes a certain form for the control strategies. Both of these methods result in a technique for designing a repeatable control which is nearest, in an integral norm sense, to a desired optimal control. The desired optimal control is allowed to take the form of any generalized inverse. An example is presented for both methods