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Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZFD) formula. This paper applies the ZFD formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first-order derivatives. Specifically, the ZFD formula is employed to discrete the pseudoinverse-based (P-based) kinematic control scheme; a new P-based kinematic control scheme with guaranteed motion precision is developed for redundant robot manipulators. Simulation results based on a five-link planar robot manipulator, which performs different end-effector paths, validate the effectiveness of the new scheme and indicate the application prospects of the ZFD formula.

The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators With Guaranteed Motion Precision