A Study on the Optimized Solution of Redundant Manipulators Using Improved General-Weighted Least-Norm Method

摘要

This paper presents the improved general-weighted least-norm (IGWLN) method to heighten the optimization ability for the control of redundant manipulator. The IGWLN method ameliorates the mapping relationship between the optimization target and virtual joint by modifying the transformation matrix, which guarantees the accuracy of main task while accomplishing the subtask and reduces the computation compared with the original general-weighted least-norm (GWLN) method. A simulation in contrast to the GWLN method on a seven-degree-of-freedom (7 DOF) redundant manipulator demonstrates the advantages of the IGWLN method while following a given trajectory.