Improved Kinematic Control Scheme with Harmonic Noise Tolerance for Robotic Manipulators

The approach based on the inverse/pseudoinverse of the Jacobian matrix has been extensively studied for the kinematic control of robotic manipulators. In practical applications, harmonic noise widely exists, which would severely affect the performance of these kinematic control schemes. In this paper, with the consideration of harmonic noise, an improved formulation of the kinematic control scheme is proposed for robotic manipulators. Such an improved scheme is then theoretically analyzed to be tolerant to harmonic noise. Simulation results based on the four-link and PA10 robotic manipulators verify the effectiveness of the improved kinematic control scheme.