부산대학교 도서관

A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the strength of the repulsive potential field function. However, the repulsive potential field function may lead to excessive joint angular velocities that can exceed the corresponding limits. We propose an improved clamping weighted least-norm method that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits. Moreover, for hierarchical task-level construction, the priority of avoiding joint angular velocity limits is lower than that of avoiding joint angular position limits. To adequately illustrate the effectiveness of the proposed method, case studies were performed in comparison with other methods in singular configurations of a redundant manipulator.