Abstract
This paper presents an optimization method for redundant manipulator redundancy resolution with additional task. The cost function is a compromise between the requirement of accuracy of the main task, the accuracy of the additional task, and the feasibility of the joint velocities. The joint rates that minimize the cost function can be found, and the joint position trajectories can be integrated with an initial configuration. The effectiveness of this presented method is verified by a planar 3-DoF PRR manipulator.
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