Simplified Dynamic Control Of Redundant Manipulators

Simplified scheme proposed for dynamic control of robotic manipulator having redundant joints; that is, extra degrees of freedom beyond needed to perform task, to position and orient end effector at specified position and/or move it along specified trajectory. Extra degrees of freedom used to perform simultaneous subtask. Scheme adaptive and based on observed performance of manipulator. Involves neither complicated mathematical model of dynamics of manipulator nor time-consuming inverse kinematic transformation.