Dynamic stability and the end-task self-motion for redundant manipulators

The stability and the end-task self-motion are important and difficult points. To solve these difficulties that exist in dynamic optimization of redundant manipulators, the paper researches the inner relation and contradictory conflict between the dynamic optimization and the joint velocities, and a new idea to raise the general quality of dynamic optimization by means of optimizing joint velocities is presented. A scheme resulting from adjusting an homogeneous joint velocity item in real-time is developed to effectively improve stability and joint velocities at end of motion to be near zero. Computer simulation verified the proposed approach to be very useful and efficient.