Kinematically Redundant Manipulators

@inproceedings{Chiaverini2008KinematicallyRM,
  title={Kinematically Redundant Manipulators},
  author={Stefano Chiaverini and Giuseppe Oriolo and Ian D. Walker},
  booktitle={Springer Handbook of Robotics},
  year={2008}
}
This chapter focuses on redundancy resolution schemes, i. e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled, with a discussion of the main techniques for handling kinematic singularities. Next… CONTINUE READING
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