Acceleration-level D1Z1 scheme for robotic manipulators end-effector path trailing

Generally, the robotic forward kinematics for redundant manipulators has a maturely analysis formula, but the inverse-kinematics question is analytically troublesome. Many approaches have been adopted to resolve the complicated inverse-kinematics question; for example the previous pseudo-inverse based (PIB) method. It is a general method while brings a lot of defects and limitations. Considering that, it is necessary to indagate other inverse-kinematics schemes through applying the related dynamic methods. Based on many previously excellent researches, the dynamic methods used in this paper consist of direct derivative dynamics (D
³
) and Zhang dynamics (ZD). Through using D
³
once and ZD kinematic method once, a scheme called D1Z1 is studied for solving the redundancy question of robot manipulators. As an representative application of D
³
and ZD method, the D1Z1 scheme, that is exploited at the acceleration level instead of the velocity level. Furthermore, simulation results based on robotic manipulators of different links illustrate the reliability and advantage of the proposed D1Z1 scheme.