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A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied using a typical numerical difference rule to discretize the existing IK method based on JP. The proposed method is depicted in a discrete-time form and is theoretically proven to exhibit great performance in the IK of redundant manipulators. A discrete-time repetitive path planning (DTRPP) scheme and a discrete-time obstacle avoidance (DTOA) scheme are developed for redundant manipulators using the proposed method. Comparative simulations are conducted on a universal robot manipulator and a PA10 robot manipulator to validate the effectiveness and superior performance of the DTRPP scheme, the DTOA scheme, and the proposed JP-based IK method.<\/jats:p>","DOI":"10.1017\/s026357472100045x","type":"journal-article","created":{"date-parts":[[2021,5,18]],"date-time":"2021-05-18T11:13:20Z","timestamp":1621336400000},"page":"170-190","source":"Crossref","is-referenced-by-count":16,"title":["Inverse kinematics of redundant manipulators with guaranteed performance"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9236-229X","authenticated-orcid":false,"given":"Dongsheng","family":"Guo","sequence":"first","affiliation":[]},{"given":"Aifen","family":"Li","sequence":"additional","affiliation":[]},{"given":"Jianhuang","family":"Cai","sequence":"additional","affiliation":[]},{"given":"Qingshan","family":"Feng","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Shi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,5,18]]},"reference":[{"key":"S026357472100045X_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001152"},{"key":"S026357472100045X_ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2900659"},{"key":"S026357472100045X_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2018.2884543"},{"key":"S026357472100045X_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471800005X"},{"key":"S026357472100045X_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2836968"},{"key":"S026357472100045X_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2756029"},{"key":"S026357472100045X_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.02.008"},{"key":"S026357472100045X_ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.02.037"},{"key":"S026357472100045X_ref3","doi-asserted-by":"publisher","DOI":"10.1002\/9781119557005"},{"key":"S026357472100045X_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"S026357472100045X_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2970196"},{"key":"S026357472100045X_ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2899909"},{"key":"S026357472100045X_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000582"},{"key":"S026357472100045X_ref27","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2018.00051"},{"key":"S026357472100045X_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2960399"},{"key":"S026357472100045X_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2019.2931810"},{"key":"S026357472100045X_ref31","volume-title":"Numerical Methods Using MATLAB","author":"Mathews","year":"2004"},{"key":"S026357472100045X_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-148-6"},{"key":"S026357472100045X_ref20","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray","year":"1994"},{"key":"S026357472100045X_ref30","unstructured":"[30] The Math Works Inc., Optimization Toolbox for Use with MATLAB, version 2.3 (2003)."},{"key":"S026357472100045X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/MCI.2019.2919397"},{"key":"S026357472100045X_ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001036"},{"key":"S026357472100045X_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2014.06.045"},{"key":"S026357472100045X_ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2941916"},{"key":"S026357472100045X_ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2019.2914618"},{"key":"S026357472100045X_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-019-04932-8"},{"key":"S026357472100045X_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2966768"},{"key":"S026357472100045X_ref33","doi-asserted-by":"crossref","unstructured":"[33] Kebria, P. 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