Motion Control of a Spatial Multi-loop Manipulator with Redundancy

Abstract

This paper describes the optimum motion control of a spatial multi-loop manipulator with 8 DOE Direct kinematics of the manipulators was discussed and the Jacobian matrix is then derived. The gradient projection method was adopted to obtain the optimum solution of inverse kinematics for the manipulator with redundancy. Two examples of the optimum solution were illustrated: The one was to minimize the occupied volume of the manipulator. The other was to avoid the motion limitation due to the limitation of spherical pairs. The latter was examined with CP control experiment. It was then confirmed that the proposed method was effective and useful.