Redundant arm kinematic control based on parameterization

Abstract

A method for achieving redundant arm kinematic control based on parameterization is presented. The method, referred to as the parameterization method, parameterizes properly chosen redundant joints, and obtains a close form of parameterized inverse kinematic solution to accomplish position-based kinematic control. The parameterization of redundant joints is based on: (1) selecting a point in the solution manifold of redundant joints that is closest to one of the reference points, where the reference points represent desirable arm configuration in the parameter space; and (2) adjusting the selected parameter values in the parameter space for the optimization of performance specified by a potential field over the joint space. The proposed method provides the computational efficiency and numerical stability, as well as the capability of trajectory planning in the joint space for redundant arm kinematic control. The case study demonstrates that the parameterization method can be successfully applied to the position-based kinematic control of the eight-degree-of-freedom redundant arm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>