General-Weighted Least-Norm Control for Redundant Manipulators under Time-Dependent Constraint

Previous research dealing with constrained kinematic redundancy problems focuses on manipulators with time-independent constraints. This paper extends the generalweighted least-norm (GWLN) method to manipulators with time-dependent constraints by introducing time-dependent virtual joints. In the virtual joint space, corresponding task space velocity is revised to encapsulate the effects of time-dependent parameters of constraints. This is done so that an intermediate kinematic control problem with only joint limit is obtained. Then, the inverse kinematic problem is solved in the virtual joint space. A new inverseweighted matrix setting criterion is proposed to replace the one-step prediction that originally complicated implementation of the GWLN method. To demonstrate the efficacy of the method, simulations and experiments are carried out on a five-link welding manipulator to track the welding trajectory. Time-dependent orientation constraint and preventing joint limits is guaranteed using this method.