Repeatable kinematic control of redundant manipulators: implementation issues

A technique to implement repeatable control of kinematically redundant manipulators is suggested. First, a general framework for repeatable kinematic control of redundant mechanisms is provided and redundancy is resolved in the framework. Second, the scheme is implemented in such a way that tracking error for primary task is minimized and repeatability is guaranteed if no singularity is encountered. Damped pseudo-inverse is used to address the problem of algorithmic singularity. By our choice of dynamic damping, joint speed is expected to change smoothly and tracking error of secondary goals is also expected to be minimized. Simulation results show the effectiveness of the scheme