Robot Manipulator Redundancy Resolution

Chapter 1Redundancy Resolution via Pseudoinverse and ZD Models

1.1 Introduction

Recently, robotics has played a more and more important role in scientific research and engineering applications [1–4]. Being an essential topic, the problem of redundancy resolution (or mostly say, the problem of inverse kinematics, which is related to the kinematic control of some redundant robot manipulator) has attracted the extensive attention of many researchers [5–9]. The general description of such a problem is that, given the desired Cartesian path of the end-effector versus time , the corresponding trajectories of joint-variable vector need to be obtained online (or offline and in advance). In mathematics, to find such that

where forward-kinematics mapping is nonlinear and differentiable with a known structure and parameters for a given robot manipulator [1–3, 9]. Note that, for a redundant robot ...