Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion

摘要

To consider the dynamic effects of redundancy resolution in redundant manipulators, the inverse kinematics of the redundant manipulator must be resolved at the acceleration level, focussing mainly on using selective dynamic criteria to resolve the redundancy. These local dynamic redundancy resolution techniques reveal some instability problems due to the high joint velocities. The buildup of high joint velocities is due to the lack of a kinematic criterion in the local optimization process to reflect the changes of joint velocities. In order to avoid instability due to high joint velocities, this paper proposes dynamic redundancy resolution techniques (SMV and SMTV) which locally optimize the performance function, including a kinematic criterion as the norm of joint velocities to reflect the changes of joint velocities. These prevent the occurrence of high joint velocities and guarantee that joint velocities at end of motion are near zero. In addition, the redundancy is resolved at the joint acceleration level to consider the manipulator dynamics and the effect of kinematic criterion on the manipulator joint torques. Computer simulations were performed on a three-link planar rotary manipulator to verify the performance of the proposed dynamic redundancy resolution techniques and to compare its performance with existing local dynamic redundancy resolution techniques.