Kinematic programming alternatives for redundant manipulators

TLDR

In redundant manipulator control, many inverse‑kinematics techniques have been proposed. The paper introduces a new extended Jacobian technique for redundant manipulator control. The authors survey existing inverse‑kinematics methods, discuss their strengths and weaknesses, and present the extended Jacobian approach. The extended Jacobian technique can lift closed end‑effector paths to closed joint‑angle paths and be implemented as a parameterized generalized inverse method, offering a promising solution for controlling kinematically redundant industrial manipulators.

Abstract

In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving the inverse kinemetics problem. Some of these techniques are surveyed with a discussion of strengths and weaknesses of each. A new approach, called the extended Jacobian technique, is also presented. It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators. It is further shown that this technique may be implemented as a suitably parameterized generalized inverse method.