Abstract
Algorithmic methods for solving robot redundancy are considered, providing new strategies for optimizing general kinematic criteria at the acceleration level. Acceleration resolution offers two potential advantages: it allows to take into account dynamic performance and can be directly used with control techniques for accurate tracking. Local first and second-order optimal resolution schemes are described in a convenient unified framework and classified according to their iterative or exact nature. Instances where an equivalence exists between velocity and acceleration methods are pointed out. Existing second-order methods do not apply to the case of mixed criteria, namely objective functions depending both on joint configuration and velocity. A discrete-time formulation is used to design algorithms solving this problem. Simulations with a planar redundant arm show the benefits achieved with the new optimization scheme.
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