Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom

Abstract

In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneously. Some simulations are carried out, and the optimization method is verified to be effective.