Pseudoinverse-based optimization scheme for motion control of redundant robot manipulators

On the basis of weighted combination of the minimum velocity norm (MVN) scheme and the minimum acceleration norm (MAN) scheme, a pseudoinverse-based optimization scheme for motion control of redundant robot manipulators is proposed and investigated. Such an optimization scheme can achieve the minimization of joint-velocity norm and jointaccelerationnorm at the same time. Besides, the proposed optimization scheme can not only avoid the high joint-velocity and joint-acceleration phenomena, but also make the joint velocity of the robot manipulator to be near zero at the end of motion. Comparative computer-simulation results further verify the effectiveness and the feasibility of the proposed optimal control scheme.