Repeatable generalized inverse control strategies for kinematically redundant manipulators

The issue of generating a repeatable control strategy which possesses the desirable physical properties of a particular generalized inverse is addressed. This is done by first characterizing repeatable strategies using orthonormal basis functions to describe the null space of these transformations. The optimal repeatable inverse is then obtained by projecting the null space of the desired inverse, in an integral norm sense, from the set of all inverses spanned by the selected basis functions. This technique is illustrated for a planar, three-degree-of-freedom manipulator