Analysis on a Minimum Infinity-norm Solution for Kinematically Redundant Manipulators

In this paper, at first, we investigate existing algorithms for finding the minimum infinity-norm solution of consistent linear equations and then propose a new algorithm. The proposed algorithm is intended to includes the advantages of computational efficiency as well as geometric explicitness. As a practical application example, optimum trajectory planning for redundant robot manipulators is considered. Also, an efficient approach avoiding discontinuity in trajectory is proposed by resolving the non-uniqueness problem of minimum infinity-norm solution. To be specific, the proposed method for checking possible discontinuity does not need any other algorithms in checking the possibility of discontinuity while previous work needs specially designed checking courses. To show the usefulness of the proposed techniques, an example calculating minimum infinity-norm solution for comparing the computational efficiency as well as the trajectory planning for a redundant robot manipulator are included.