Kinematic control of Robots

KINEMATIC control of a robot manipulator consists of solving the control problem in two stages, i.e., the desired task trajectory is transformed via the inverse kinematics into corresponding joint trajectories, which then constitute the reference inputs to some joint space control scheme [1]. This approach differs from operational space control [2] in the sense that manipulator kinematics is handled outside the control loop, thus allowing the problem of kinematic singularities and/or redundancy to be solved separately from the motion control problem. Moreover, most built-in controllers of industrial robots are based on joint servos and, thus, they can be easily embedded into a kinematic control strategy.

* Ref

[1] Fabrizio Caccavale, Student Member, IEEE, Stefano Chiaverini, and Bruno Siciliano, Senior Member, IEEE, Second-Order Kinematic Control of Robot Manipulators with Jacobian Damped LeastSquares Inverse: Theory and Experiments, IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 2, NO. 3, SEPTEMBER 1997.