Inverse kinematics and planning/control co-design method of redundant manipulator for precision operation: Design and experiments

•A novel adaptive transfer particle swarm optimization algorithm is proposed based on the velocity. Directional manipulability measure (VDMAT-PSO), providing the solution for inverse kinematics of the 7-DoF redundant manipulators.•A novel planning/control co-design algorithm is proposed based on the Dynamic Movement Primitives (DMPs-PCC) to ensure that the motion planner and actuator of the 7-DoF redundant manipulator can work synchronously, while optimizing the velocity and acceleration profiles of each joint of the manipulator in the operating process.