Optimal parameter value of Zhang equivalence for MVN redundancy resolution at velocity and acceleration levels

Abstract

The equivalent relationship of two general scheme formulations at joint velocity and joint acceleration levels is established in this paper for robotic redundancy resolution, i.e., the so-called Zhang equivalence (ZE). As one representative case, ZE of the minimum velocity norm (MVN) type (i.e., MVN-type ZE) is further investigated for redundancy resolution. Moreover, computer simulations together with illustrative numerical experiments based on the widely-used robot manipulator PUMA560 show the phenomenon that an optimal equivalence value of the equivalent parameter exists within effective range from two different perspectives of equivalence; and then reveal the optimal value of the equivalent parameter in two situations from such perspectives.