The state space augmentation method is employed in the trajectory planning of redundant manipulators, formulated as an optimal control problem which is solved by the application of the Pontryagin's maximum principle. The developed method enables the manipulator to avoid singularities and joint limits and to conserve joint configuration in cyclic motion. The effectiveness of the method is studied by conducting computer simulation on a three degree-of-freedom manipulator performing planar motions.
['Zhen-Lei Zhou', 'Charles C. Nguyen']
Joint configuration conservation and joint limit avoidance of redundant manipulators