A chaos perspective in the trajectory control of redundant manipulators

Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies kinematics and dyanmics of trajectory planning scheme. The experiement confirm the non-linear and chaotic performance of the algorithm and gives a deeper insight towards the future development of superior trajectory control systems.N/