Criteria optimization using self‐motion of a 9‐R redundant robot

Abstract

Abstract Using inverse kinematic solutions for self‐motion of a class of 9‐R redundant robots, a conjugate‐gradient based constrained optimization scheme for incremental trajectory planning is formulated. The proposed scheme has been evaluated and proved to be an efficient optimization method for redundancy utilization. It can also be used for studying 7‐R and 8‐R manipulators by simply restricting to one‐variable and two‐variable optimization, respectively. In contrast with other approaches which are based on the Jacobian, our scheme exploits the availability of closed‐form inverse kinematic solutions to give more effective and accurate results.