Closed-loop Inverse Kinematics Schemes For Constrained Redundant Manipulators With Task Space Augmentation and Task Priority Strategy

This article presents new closed-loop schemes for solving the inverse kinematics of constrained redundant manipulators. In order to exploit the space of redundancy, the end-effector task is suitably augmented by adding a constraint task. The success of the technique is guaranteed either by specifying the constraint task ad hoc or by resorting to a task priority strategy. Instead of previous inverse kinematics schemes that use the Jacobian pseudoinverse, the schemes in this work are shown to converge using the Jacobian transpose. A number of case studies illustrate different ways of solving redundancy in the context of the proposed schemes.