Resolução de redundância aplicada a um manipulador robótico com cinco graus de liberdade

Abstract

Kinematically redundant manipulators have more degrees of freedom (DoFs) than ne cessary to perform a specific task, offering greater flexibility and dexterity in executing trajectories. However, these additional DoFs also introduce greater complexity in the manipulator’s inverse kinematics, requiring the use of redundancy resolution schemes to find a particular solution that optimizes the manipulator’s performance criteria, such as joint speed, manipulability, or distance to obstacles. This work presents a theoretical foundation on the main points related to differential inverse kinematics for redundant manipulators. To validate the proposed methodology, a virtual environment was imple mented using the Webots simulator and the Robot Operating System (ROS), allowing the practical application of the Resolved Rate Motion Control (RRMC) control scheme. The simulations carried out show that the controller is capable of optimizing performance me trics without violating the primary kinematic constraints in different Cartesian trajectory execution scenarios.