Inverse Kinematic Control Method of Redundant Manipulators with Joint Limits Constraints

For the control problem of redundant manipulators with joint limits constraints, a novel method combining the simplified clamping weighted least-norm method and the typical gradient projection method is proposed in this paper. The method solves the problem that the manipulability of the redundant manipulator is poor caused by the clamping weighted least-norm method and makes the joint velocity change more smoothly. The proposed novel method is implemented on a kinematic redundant manipulator with four degree-of-freedom (DOF) which belongs to the dulcimer music-playing robot. The numerical simulation results show that the joint positions are well-bounded within the joint limits and the manipulator has a good performance for tracking a given trajectory.