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Real-time control of redundant robots subject to multiple criteria

To realize control of robotic manipulators with redundant degrees of freedom, the concept of a motion optimizability measure is introduced. We derive an optimal solution technique for the inverse kinematics of a redundant robot that achieves real-time control with multiple performance criteria. Using this technique, we propose an efficient method for kinematic control. Experimental results are presented for a 7 DOF manipulator.