Inverse kinematics of planar redundant manipulators using virtual link and displacement distribution schemes

A method for the inverse kinematic problem of planar manipulators with multiple degrees of redundancy is proposed. The method starts by decomposing a redundant arm into a series of the local arms which are either two-link or three-link planar manipulator modules and by connecting the conjunction points between local arms with virtual links. In addition to virtual links, a displacement distribution scheme where the displacement of an end-effector is allocated to those of local arms according to displacement distribution criteria is also proposed. To effectively guide the proposed schemes, a dexterity index called the configuration index is utilized. Computer simulations of redundant manipulators using the proposed method are demonstrated as numerical examples