The constraints on the
physical limit should be considered in a kinematic redundancy resolution
problem of a robot. This paper proposes a new optimization scheme to
resolve kinematic redundancy of the robot while considering physical
constraints. In the proposed scheme, quadratic inequality constraints
are used in place of linear inequality constraints, thus a quadratically
constrained optimization technique is applied to resolve the redundancy.
It is shown that the use of quadratic inequality constraints
considerably reduces the number of constraints. Therefore, the proposed
method reduces the problem size considerably and makes the problem
simple resulting in computational efficiency. A numerical example of a
4-link planar redundant robot is included to demonstrate the efficiency
of the proposed optimization technique. In this example, simulation
results using the proposed method and another well-known method are
compared and discussed.