Analysis on Inverse Kinematics of Redundant Robots

The objective of the present work is to finalize a numerical solution that operates on the inverse kinematic mechanism of redundant robots leading to a robust method. After considering the consequences of all numerical ways of solving the inverse kinematics problem with their limitations and difficulties, it aimed to receive the best one of them and find a final effective solution. Now, the results obtained till now are implemented to the task space trajectory planning and redundancy resolution.