Cartesian Coordinate Control for Redundant Modular Robots

This paper is focused on the kinematic ontrol of redundant modular obots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algorithms are proposed for Cartesian space (task space) control of redundant modular robots. The effectiveness of the proposed algorithms has been experimentally demonstrated by a 7-DOF serial modular robot that performs pick-and-place task with the avoidance of joint angle limits. Key words: modular robots, redundant robots, kinematic control