Gradient projection method of kinematic redundant manipulator based on continuous scale factor

The status of gradient projection method of redundant manipulator is analysed, the effect and selection methods of the scale factor of the homogeneous solution is expatiated. A new method to calculate the scale factor is proposed which will make it changed continuously in real time. Computer simulation has been conducted to compare the new scheme with the other two typical ones, the results show that the new algorithm with the continuous scale factor can make the joints angle, joints velocity and joints acceleration of the manipulator more smoothly and continuously, it also can overcome the shortcoming of two traditional gradient projection methods. Experiment results with a 4 DOF manipulator verify the validity of the proposed algorithm.