Review of pseudoinverse control for use with kinematically redundant manipulators

TLDR

Kinematically redundant manipulators offer several potential advantages compared to conventional designs. The study proposes using pseudoinverse-based velocity control for such redundant arms. The authors present a joint‑angle allocation method approximating a minimax criterion and discuss related numerical issues. The analysis reveals that pseudoinverse control can produce undesirable arm configurations in certain scenarios.

Abstract

Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.