Alternative computational scheme of manipulator inverse kinematics

The fundamental concept of the paper is to divide the inverse kinematics problem of a non-redundant robot manipulator into two sub-problems of different priorities, one associated with the position and one with the orientation of the end effector. We apply a standard weighted-pseudoinverse-based scheme which is normally utilised to resolve the inverse kinematics of a redundant manipulator. We show that the proposed approach is advantageous when the secondary task (orienting of the end effector) cannot entirely be executed.