Optimal resolution of kinematical redundancy for endpoint compliance

The inverse kinematics of a redundant manipulator are formulated as a constrained optimization problem, where the configuration of the manipulator is optimized in order to achieve a desirable endpoint compliance matrix. Then a global optimization method using the interval analysis is presented for solving the problem. The major virtue of the proposed method is that it guarantees that the global optimum has been found. Experimental results demonstrate the usefulness of the proposed method and also exhibit the best configuration of a redundant manipulator engaged in the peg-in-hole task.