Kinematic Redundancy Resolution for Serial-Parallel Manipulators via Local Optimization Including Joint Constraints

This paper presents a method for kinematic redundancy resolution for serial-parallel manipulators using local optimization. The local optimization method is computationally efficient and thus suitable for real-time application. Furthermore, the developed method allows for incorporation of both active and passive joint limits. Accordingly, only feasible trajectory solutions are obtained. The method includes a rule-based, heuristic algorithm to provide smooth transitions between unconstrained and constrained motions. Details of the new algorithm are provided and the efficacy of the approach is established through simulation. Additionally, the algorithm is validated by comparison to a widely accepted global optimization method.