An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist

A computationally effective kinematic control scheme is presented for a seven-degree-of-freedom redundant robot with spherical wrist. This scheme uses a gradient projection optimization method, which eliminates the need to determine the generalized inverse of the Jacobian when solving for joint velocities for given Cartesian end-effector velocities. Closed-form solutions are obtained for joint velocities using this approach. The application of this scheme to the seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR) is described