Optimal Resolution of Kinematical

The inverse kinematics of redundant manipulator is formulated as a constrained op- timization problem, where the configuration of the manipulator is optimized in order to achieve a desirable endpoint compliance matrix. Then a global optimization method using the inter- val analysis is presented for solving the problem. The major virtue of the proposed method is that it guarantees the global optimum has been found. Experimental results demonstrate the usefulness of the proposed method and also exhibit the best configuration of a redundant manipulator engaged in the Peg-in-Hole task.