Computed Torque Control of Redundant Manipulators Using General-Purpose software in Real-Time

This work proposes the simultaneous solution of inverse kinematics and inverse dynamics of redundant manipulators for (nearly) real-time joint trajectory design and feedforward control torque computation using general-purpose multibody formulations and software tools based on redundant coordinate approaches. The proposed scheme consists of a staggered sequence of three inverse kinematics problems that compute positions, velocities, and accelerations, followed by an inverse dynamics problem that computes feedforward generalized driving forces. The soundness of the proposed scheme is illustrated by its application to several problems of increasing complexity.