Maximal admission of joint range of motion based on redundancy resolution for kinematically redundant manipulators

This paper addresses a inverse kinematics problem for kinematically redundant manipulators. In the problem, using the redundant degrees-of-freedom we can execute a secondary task which has no effect on a primary task. We usually design the secondary task as a performance criterion function to avoid obstacles, kinematic singularities, or joint limits, etc. For avoiding joint limits, however, many performance criterion functions are expected to converge a particular angle within joint range of motion. There also exists a performance criterion function which cannot avoid joint limits essentially. In this paper we propose a motion planning method with maximal admission of joint range of motion for kinematically redundant manipulators. The effectiveness of our proposed method is demonstrated by a numerical example that each joint avoids the neighborhood of joint limits strictly.