A Dual-Space Approach for Optimization of Dynamic and Kinematic Performance of Redundant Manipulators

One of the problems in most existing algorithms for optimizing dynamic parameters of redundant robotic manipulator; is the inadequate consideration of redundancy-related kine-matics, such as avoidance of obstacle, singular configuration and the joint motion limits. Thispaper introduces a method based on the concept of dual-space of the Jacobian matrix to resolve the problem. Based on the method, lcinematic parameters can be optimized in the lacobian space with a higher priority. In the time, dynamic optimization such as optimization of applied torque distribution can be achieved by adjusting joint movement in the null space of the Jacobian matrix. Implementation through computer simulation demonstrates that the proposed methods are efFective and can be used to optimize simultaneously both the lcinematir and dynamic narametecs of redundant manipulator.