Inverse Kinematic Solution Of Redundant Manipulators And Obstacle Avoidance

The manipulators possibly used in underground mining must deal with unpredictable obstacle while keeping certain positions and orientations of end effector, and in some cases, are required to possess redundant joints in order to be more flexible. This kind of manipulators might be fitted with jumbo drill or platform as auxiliary to potentially deal with some utility works in versatile way, such as installing rock bolts, guniting, blasting, charging, surveys and measuring work, etc.. This paper describes numerical procedures of performing inverse kinematic problems for redundant manipulators .The procedures, based on the generalized pseudoinverse of Jacobian matrix, are developed to lead to kinematic solution at both singularity and ill conditioning, and to guarantee continuous sequence of positions of the end effect or. Furthermore, the solution to optimization and obstacle avoidance is investigated. A numerical example is shown to illustrate the approach.