Real-time control of redundant robots subject to multiple criteria

To realize the control of robotic manipulators with redundant degrees of freedom, the concept of the motion optimizability measure is introduced. We derive an optimal solution technique for the inverse kinematics of a redundant robot that achieves real-time control with multiple performance criteria. Using this technique, we propose an efficient method for kinematic control. Experimental results are presented for a 7 dof manipulator.