Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

The problem of designing optimal trajectory for redundant manipulators has attracted many researchers for the last three decades. One of the main reasons is the use of kinematically redundant robots is expected to increase in the future due to their increased flexibility. Some of the extra capabilities include the ability to avoid internal singularities or exte rnal obstacles over their entire workspace (Parket et al.,1989). Also, the inverse kinematics problem is underdetermined and admits an infinite number of distinct feasible solutions, meaning that a given end-effector pos es can be realized by an infinite number of distinct manipulator configurations (McAvoy, et al, 2000). In order to overcome the shortcomings inherent in non-redundant robots, redundant robots have been utilized in industrial applications to increase fl exibility and dexterity around a restricted task space in pres ence of obstacle.