An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist

Abstract

A computationally effective kinematic control scheme is presented for a seven-degree-of-freedom redundant robot with spherical wrist. This scheme uses a gradient projection optimization method, which eliminates the need to determine the generalized inverse of the Jacobian when solving for joint velocities for given Cartesian end-effector velocities. Closed-form solutions are obtained for joint velocities using this approach. The application of this scheme to the seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR) is described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>