Inverse kinematic solution based on decomposed manipulability

For redundant robot manipulators, linear motion and angular motion are handled separately in solving inverse kinematics and trajectory planning. We apply the concept of decomposed specified manipulability to solve the inverse kinematic equation. With given joint velocity limits and given task velocity, we solve the inverse kinematic equation so that the linear velocity of the solution has maximum magnitude while the angular velocity of the solution is kept at a predefined value. For a trajectory where only the geometric path of the end-effector position and the angular velocity during travelling are specified, we derive a joint trajectory that makes the robot reach the goal position with shorter travelling time than conventional methods