Closed form solutions applied to redundant serial link manipulators

This paper presets an efficient local optimization scheme for redundant serial link manipulators with low degree of redundancy and a complex optimization task. This is done by reducing the degree of the joints space by the number of link variables solved by a closed form solution of the inverse kinematics for nonredundant substructures. The optimization problem is solved locally by an algorithm which does not require differentiable task functions.