Control of Self-Motion and Optimization of Dynamic Performance for Redundant Manipulators

Problems arise when most existing algorithms of redundant robotic manipulators are used for the optimization of dynamic parameters. One of such problems is the uncontrolled self-motion in the joint space of the manipulator. This paper analyzes the reasons causing undesirable self-motion and presents two approaches which can be used to handle the problem Fectily. In addition, the methods can be used to the norm of joint velocities and optimize applied torque distribution and thus the dynamic performance of redundant robot ran be significantly improved.