Abstract
Considering the redundant degree of freedom (DoF) of open loop kinematic chain, the closed-loop inverse kinematics algorithm (CLIK) via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given and the constraints of joint limits are applied to modify the null space in order for some optimized solutions. The repetitive trajectories are tracked in the simulations made on the 3-DoF planar and 4-DoF spatial manipulators respectively and two optimization methods with joint limits avoidance are considered. The simulation results verify the effectiveness of the proposed algorithm and provide detailed comparative analysis among different methods and cases.
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