Programming and control of kinematically redundant manipulators

1 December 1984

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 23, 768-774
https://doi.org/10.1109/cdc.1984.272110

Abstract

Because kinematically redundant robot manipulators have extra degrees of freedom with which to move and orient end effectors in the workspace, they offer a number of advantages over nonredundant designs. In this paper we show how extra degrees of freedom may be used to mitigate the problem of kinematically singular configurations. Programming and control techniques for resolution of redundancy are presented.

Keywords

HARDWARE

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