Abstract
A redundant manipulator can achieve multiple tasks using the degree of redundancy.In this paper, a redundancy resolution problem is formulated with multiple criteria into a local equality and inequality constrained optimization problem.To achieve multiple tasks, the task with the highest priority can be performed by optimizing a corresponding objective function.The forward kinematic relation and the other tasks with higher priority are performed by satisfying an equality constraint and a set of inequality constraints, respectively.The solution of the path planning is then obtained using an optimization procedure.Different to the conventional approach, the inverse of the Jacobian matrix is not used in the proposed method.The proposed method also provides a unified approach to solve motion planning problems with multiple tasks.
