Equivalent relationship between velocity- and acceleration-level redundancy-resolution schemes exemplified via multi-link planar robot arms

Redundancy resolution has been widely investigated at the joint-velocity and joint-acceleration levels for robot manipulators in the past three decades, but in a separate manner. In this paper, two redundancy-resolution schemes (i.e., a velocity-level based scheme and an acceleration-level based scheme) are presented, and more importantly the relationship between such two different-level schemes is investigated. Computer-simulation results based on a four-link planar robot arm show that the solutions of such two presented schemes fit well with each other, substantiating that the two different-level redundancy-resolution schemes could be equivalent in some sense. Computer simulations based on five-link and six-link planar robot arms verify further this equivalent relationship between different-level redundancy-resolution schemes. Moreover, it could be proved via gradient-descent and/or Zhang et al´s neural-dynamic methods.