Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. A case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.

On the use of redundancy in robot kinematic control.

CHIACCHIO, Pasquale
1988-01-01

Abstract

Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. A case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11386/3231678
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