Real-time implementation of an optimization scheme for seven-degree-of-freedom redundant manipulators

A computationally efficient kinematic optimal control scheme for seven-degree-of-freedom (7-DOF) manipulators is presented. This scheme uses the gradient projection optimization method in the framework of resolved motion rate control and does not require calculation of the pseudoinverse of the Jacobian. An efficient formulation for determining joint velocities for given Cartesian components of linear and angular end-effector velocities is obtained. This control scheme is well suited for real-time implementation, which is essential if the end-effector trajectory is continuously modified based on sensory feedback. Implementation of this scheme on a Motorola 6820 VME bus-based controller of the 7-DOF manipulator is described. A comparison of computational complexity with previously available schemes is presented