15 QP Based Joystick Control

A robot manipulator is said to be redundant when it has more DOF than necessary to perform a given end-effector task. The fundamental issue to operate such a redundant system is the redundancy-resolution problem. In recent decades, a favorable manner based on online optimization techniques has been applied to solving such redundancy-resolution problem and most of these optimization techniques can be formulated as a (time-varying) quadratic program (QP) subject to equality and inequality constraints. Furthermore, the constrained QP can be transformed into a system of piecewise-linear equations (PLE) and then solved by a number of methods and techniques.