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The inverse kinematics of redundant arms is formulated as a constrained optimization problem, where the configuration of the arm is optimized for decoupling its endpoint compliance matrix as much as possible. Then a global optimization method using the interval analysis is presented for solving the problem. Experimental results demonstrate the characteristic of the proposed method and also exhibit the best configuration of a redundant arm engaged in the Peg-in-Hole task.

Optimal Configuration Problem of Redundant Arms Considering Endpoint Compliance and Its Solution Using Interval Analysis