Robot Manipulator Redundancy Resolution

Chapter 3D1G1 Type Scheme to JAL Inverse Kinematics

3.1 Introduction

In recent decades, robotic systems have been playing an increasingly important role in numerous fields of engineering applications. They have been applied in industrial automation to perform repetitive and high-intensitive work, such as painting, welding, ironing, and palletizing. Redundant robot manipulators are robotic devices whose available DOF are more than required for executing a specific end-effector task [2, 12, 53, 54], which leads to greater dexterity and flexibility for robot manipulators. One fundamental issue in operating the redundant robot manipulator is the redundant resolution problem (i.e., the inverse kinematics problem [2, 53]). In recent years, numerous redundancy-resolution schemes have been presented, developed, and investigated at different levels (e.g., the joint-velocity level and joint-acceleration level) for solving the inverse kinematics problem of redundant robot manipulators [12, 54–59]. Note that the Z0G1 type scheme and the inverse scheme have already been presented in Chapter 2.

To obtain the inverse-free and accurate solution of the inverse kinematics problem for redundant robot manipulators, an important branch of dynamics methods, that is, the gradient dynamics (GD) method [2, 12, 53, 54, 58], is thus exploited to present and investigate an inverse-free D1G1 scheme at the joint-acceleration level rather than the joint-velocity level. It is worth pointing out that many ...