Zero dynamics in kinematically redundant robots

  title={Zero dynamics in kinematically redundant robots},
  author={Matthew Varghese and Andreas Fuchs and Ramakrishnan Mukundan},
  journal={1990 IEEE International Conference on Systems Engineering},
The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An… CONTINUE READING