Kinematic Control of Redundant Manipulators with On-Line End-Effector Path Tracking Capability Under Velocity and Acceleration Constraints

Abstract

Kinematic control techniques are based on an inverse kinematic transformation which feeds the reference values to the joints corresponding to the assigned end-effector trajectory. In this paper, a inverse kinematics algorithm for redundant robots is developed which takes into account joint velocity and acceleration limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be given on-line. Numerical simulation results are reported to demonstrate the application of the proposed technique.