Comparison of Three Redundancy Resolution Methods

摘要

There is a proliferation of methods for resolving the kinematic redundancy of a211u001efixed base, serial link manipulator based on its kinematic velocity model. Three 211u001esuch methods for determining solutions for joint velocities based on eq. (1) have 211u001ebeen developed by researchers at the Oak Ridge National Laboratory (ORNL), 211u001enamely: (1) the Input Relegation Control (IRC) Method; (2) the Belmans and 211u001eCulioli (B&C) method; and (3) an extension of the B&C method termed Full Space 211u001eParameterization (FSP). The purpose of this paper is to perform an analytical 211u001ecomparison of the three methods with added focus on identifying limitations 211u001eand/or deficiencies associated with them.