Resolving kinematic redundancy for robotic manipulators

The development of steering laws for robotic manipulators is considered. The generalized inverse is discussed in terms of its benefits and shortcomings. A design method which yields cyclic behavior is examined, and specific equations are developed for a planar three-link robotic manipulator. This work has reached the point where various expressions for performance measures may be introduced and the resulting steering law evaluated. The method is general and permits the evaluation of a wide range of performance measures