The Inverse Kinematics Algorithm of Redundant DOF Robot
A new analytic model for the inverse kinematics of redundant robot is developed based on optimization measure that is defined as a criterion to determine the optimization adaptability. A smoothly continuous function of optimization measure is derived. The redundant seven-DOF robot is kinematically simulated using MATLAB software. Results show that self-motion of joints can vary continuously and the joint angular velocity can be controlled within the smaller range by using the new model for the inverse kinematics of redundant robot.
Xing Ai, Jianfeng Li and Chuanzhen Huang
Y. Wang and L. Wang, "The Inverse Kinematics Algorithm of Redundant DOF Robot", Materials Science Forum, Vols. 471-472, pp. 592-595, 2004