COMPARISON OF METHODS FOR TRAJECTORY TRACKING FOR REDUNDANT ROBOT MANIPULATORS UNDER HOLONOMIC SCLERONOMIC CONSTRAINTS
Abstract
This paper presents a comparison of two methods used for trajectory tracking: kinematic control
and optimization problem via sequential quadratic programming. The end-eector of a redundant serial robot
manipulator has to track a desired trajectory while a point of the kinematic chain is subject to a holonomic
scleronomic constraint. In addition two manipulability indices are take into account, the rst refers to the
Jacobian before the constraint and the second refers to the constrained Jacobian. Experiments are performed in
a Baxter robot.