Global Topological Structure of the Kinematics of Redundant Manipulators


The nonlinear inverse kinematics problem for a redundant manipulator is diicult to solve. The kinematics of a redundant manipulator generically partitions into connguration space regions which are ber bundles, where the bers are the \self{motion manifolds" along which the manipulator can change connguration while keeping the end{eeector at a xed location… (More)