Abstract
For a manipulator with redundant degrees of freedom, a new control algorithm that is simple enough to be installed in microprocessor is proposed. The basic idea of the algorithm is that the solution of the kinematic equation of the manipulator is derived in the iterative manner not using a pseudo-inverse but a transpose of the Jacobian matrix. The algorithm may minimize the global loss function. The analysis displays that the control law makes the joint coordinates converge to the solution that is derived by the pseudo-inverse of the Jacobian matrix. Some numerical simulations and experiments using a manipulator with 7 degrees of freedom justify the control law.
