Behaviors of extended Jacobian method for kinematic resolutions of redundancy

Abstract

The characteristic of an inverse kinematic solution for redundant manipulators using EJM is exploited with the sufficient condition for EJM. A new analytic perspective other than the well-known algebraic and less-known geometric one on algorithmic singularity of EJM is proposed, on the basis of optimization process. The characteristic of a solution with EJM is shown to be able to change only by crossing the algorithmic singularity thereof. A 3-DOF planar redundant robot is analyzed when EJM is applied with the manipulability as an example.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>