Skip to main content
SpringerLink
Log in

Kinematic control of redundant robot manipulators: A tutorial

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Angeles, J., 1988, Isotropy criteria in the kinematic design and control of redundant manipulators, Preprints of the NATO Advanced Research Workshop ‘Robots with Redundancy: Design, Sensing and Control’, Salò, Italy, to be published by Springer-Verlag.

  • Asada, H. and Slotine, J.-J. E., 1986, Robot Analysis and Control, Wiley Interscience, New York.

    Google Scholar 

  • Baillieul, J., 1985, Kinematic programming alternatives for redundant manipulators, Proc. 1985 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Silver Spring, pp. 722–728.

    Google Scholar 

  • Baillieul, J., 1986, Avoiding obstacles and resolving kinematic redundancy, Proc. 1986 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 1698–1704.

    Google Scholar 

  • Baillieul, J., 1987. A constraint oriented approach to inverse problems for kinematically redundant manipulators, Proc. 1987 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 1827–1833.

    Google Scholar 

  • Baillieul, J., Hollerbach, J. M., and Brockett, R. W., 1984, Programming and control of kinematically redundant manipulators, Proc. 23rd IEEE Conf. Decision and Control, IEEE, New York, pp. 768–774.

    Google Scholar 

  • Baker, D. R. and Wampler, C. W., 1988, On the inverse kinematics of redundant manipulators, Internat. J. Robot. Res. 7(2), 3–21.

    Google Scholar 

  • Chang, P. H., 1987, A closed-form solution for inverse kinematics of robot manipulators, IEEE J. Robot. Automat. 3, 393–403.

    Google Scholar 

  • Chevallereau, C. and Khalil, W., 1988, A new method for the solution of the inverse kinematics of redundant robots, Proc. 1988 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 37–42.

    Google Scholar 

  • Chiu, S. L., 1988, Task compatibility of manipulator postures, Internat. J. Robot. Res. 7(5), 13–21.

    Google Scholar 

  • Dubey, R. V., Euler, J. A., and Babcock, S. M., 1988, An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist, Proc. 1988 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 28–36.

    Google Scholar 

  • Egeland, O., 1987, Task-space tracking with redundant manipulators, IEEE J. Robot. Automat. 3, 471–475.

    Google Scholar 

  • Hsu, P., Hauser, J., and Sastry, S., 1988. Dynamic control of redundant manipulators, Proceedings of the 1988 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 183–187.

    Google Scholar 

  • Kazerounian, K. and Wang, Z., 1988, Global versus local optimization in redundancy resolution of robotic manipulators, Internat. J. Robot. Res. 7(5), 3–12.

    Google Scholar 

  • Klein, C. A. and Blaho, B. E., 1987, Dexterity measures for the design and control of kinematically redundant manipulators, Internat. J. Robot. Res. 6(2), 72–83.

    Google Scholar 

  • Klein, C. A. and Huang, C. H., (1983), Review of pseudoinverse control for use with kinematically redundant manipulators, IEEE Trans. Systems Man Cybernet. 13, 245–250.

    Google Scholar 

  • Liégois, A., 1977, Automatic supervisory control of the configuration and behavior of multibody mechanisms, IEEE Trans. Systems Man Cybernet. 7, 868–871.

    Google Scholar 

  • Maciejewski, A. A. and Klein, C. A., 1985, Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, Internat. J. Robot. Res. 4(3), 109–117.

    Google Scholar 

  • Mayorga, R. V. and Wong, A. K. C., 1988, A singularities avoidance approach for the optimal local path generation of redundant manipulators, Proc. 1988 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 49–54.

    Google Scholar 

  • Nakamura, Y. and Hanafusa, H., 1986, Inverse kinematic solutions with singularity robustness for robot manipulator control, Trans. ASME J. Dynamic Systems, Measurement, and Control 108, 163–171.

    Google Scholar 

  • Nakamura, Y. and Hanafusa, H., 1987, Optimal redundancy control of robot manipulators, Internat. J. Robot. Res. 6(1), 32–42.

    Google Scholar 

  • Nakamura, Y., Hanafusa, H., and Yoshikawa, T., 1987, Task-priority based redundancy control of robot manipulators, Internat. J. Robot. Res. 6(2), 3–15 (1987).

    Google Scholar 

  • Sciavicco, L. and Siciliano, B., 1987a, Solving the inverse kinematic problem for robotic manipulators, Proc. 6th CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators, (eds. A., Morecki, G., Bianchi and K., Kědzior), MIT Press, Cambridge, pp. 107–114.

    Google Scholar 

  • Sciavicco, L. and Siciliano, B., 1987b, A dynamic solution to the inverse kinematic problem for redundant manipulators, Proc. 1987 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 1081–1087.

    Google Scholar 

  • Sciavicco, L. and Siciliano, B., 1988a, On the solution of inverse kinematics of redundant manipulators, Preprints of the NATO Advanced Research Workshop ‘Robots With Redundancy: Design, Sensing and Control’, Salò, Italy, to be published by Springer-Verlag.

  • Sciavicco, L. and Siciliano, B., 1988b, A solution algorithm to the inverse kinematic problem for redundant manipulators, IEEE J. Robot. Automat. 4, 403–410.

    Google Scholar 

  • Sciavicco, L., Siciliano, B., and Chiacchio, P., 1988, On the use of redundancy in robot kinematic control, Proc. 1988 Amer. Control Conf., Omnipress, Madison, pp. 1370–1375.

    Google Scholar 

  • Shamir, T. and Yomdin, Y., 1988, Repeatability of redundant manipulators: Mathematical solution of the problem, IEEE Trans. Automat. Control 33, 1004–1009.

    Google Scholar 

  • Slotine, J.-J. E. and Yoerger, D. R., 1987, A rule-based inverse kinematics algorithm for redundant manipulators, Internat. J. Robot. Automat. 2, 86–89.

    Google Scholar 

  • Suh, K. C. and Hollerbach, J. M., 1987, Local versus global torque optimization of redundant manipulators, Proc. 1987 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 619–624.

    Google Scholar 

  • Tsai, Y. T. and Orin, D. E., 1987, A strictly convergent real-time solution for inverse kinematics of robot manipulators, J. Robot. Systems 4(4), 477–501.

    Google Scholar 

  • Vukobratović, M. and Kirćanski, M., 1984, A dynamic approach to nominal trajectory synthesis for redundant manipulators, IEEE Trans. Systems Man Cybernet. 14, 580–586.

    Google Scholar 

  • Walker, I. D. and Marcus, S. I., 1988, Subtask performance by redundancy resolution for redundant robot manipulators, IEEE J. Robot. Automat. 4, 350–354.

    Google Scholar 

  • Wampler, C. W., 1986, Manipulator inverse kinematic solutions based on dampled least-squares solutions, IEEE Trans. Systems Man Cybernet. 16, 93–101.

    Google Scholar 

  • Wampler, C. W., 1987, Inverse kinematic functions for redundant manipulators, Proc. 1987 IEEE Internat. Conf. Robot. Automat., IEEE Computer Society Press, Washington, pp. 610–617 (1987).

    Google Scholar 

  • Wampler, C. W., 1988a, The inverse function approach to kinematic control of redundant manipulators, Proc. 1988 Amer. Control Conf., Omnipress, Madison, pp. 1364–1369.

    Google Scholar 

  • Wampler, C. W., 1988b, Winding number analysis of invertible workspaces for redundant manipulators, Internat. J. Robot. Res. 7(5), 22–31.

    Google Scholar 

  • Whitney, D. E., 1969, Resolved motion rate control of manipulators and human prostheses, IEEE Trans. Man-Machine Systems 10, 47–53.

    Google Scholar 

  • Yoshikawa, T., 1985a, Dynamic manipulability of robot manipulators, J. Robot. Systems 2(1), 113–124.

    Google Scholar 

  • Yoshikawa, T., 1985b, Manipulability of robotic mechanisms, Internat. J. Robot. Res. 4(2), 3–9.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dipartimento di Informatica e Sistemistica, Università degli Studî di Napoli “Federico II”, via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano

Authors
  1. Bruno Siciliano
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Siciliano, B. Kinematic control of redundant robot manipulators: A tutorial. J Intell Robot Syst 3, 201–212 (1990). https://doi.org/10.1007/BF00126069

Download citation

  • Received:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF00126069

Key words

Search

Navigation