Abstract
A redundant mechanism is one that contains more degrees of freedom than are needed to perform a given task. Redundant mechanisms can solve a given primary task in an infinite number of ways. This feature allows the robot to simultaneously solve additional secondary tasks. The system of differential equations defining the kinematics of a redundant mechanism is underdetermined. This requires special mathematical approaches to solve the inverse kinematics problem. One of these is the so-called task-priority approach, in which the secondary task is subordinated to the primary task. We show in this chapter that humans and animals also take advantage of kinematic redundancy to optimize their motion.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
D.R. Baker, C.W. Wampler, Int. J. Robot. Res. 7(2), 3 (1988)
G.S. Cirikjian, J.W. Burdick, IEEE Trans. Robot. Autom. 10(3), 343 (1994)
J.M. Hollerbach, K.C. Suh, IEEE J. Robot. Autom. 3(3), 308 (1987)
J. Kieffer, J. Lenarčič, in Proceedings 3rd International Symposium on Advances in Robot Kinematics, Ferrara, Italy (1992), pp. 65–72
C.A. Klein, C.H. Huang, IEEE Trans. Syst. Man Cybern. 13(3), 245 (1983)
C.A. Klein, C. Chu-Jenq, S. Ahmed, IEEE Trans. Robot. Autom. 11(1), 50 (1995)
J. Lenarčič, Lab. Robot. Autom. 8, 11 (1996)
J. Lenarčič, in Proceedings IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998), pp. 3235–3240
J. Lenarčič, Robot. Auton. Syst. 30, 231 (2000)
J. Lenarčič, CIT, J. Comput. Inf. Technol. 10(2), 125 (2002)
A.A. Maciejewski, C.A. Klein, Int. J. Robot. Res. 4(3), 109 (1985)
Y. Nakamura, H. Hanafusa, T. Yoshikawa, Int. J. Robot. Res. 6(2), 3 (1987)
D.N. Nenchev, J. Robot. Syst. 6(6), 769 (1989)
R.G. Roberts, A.A. Maciejewski, IEEE Trans. Robot. Autom. 12(4), 543 (1996)
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Lenarčič, J., Bajd, T., Stanišić, M.M. (2013). Redundant Mechanisms. In: Robot Mechanisms. Intelligent Systems, Control and Automation: Science and Engineering, vol 60. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4522-3_6
Download citation
DOI: https://doi.org/10.1007/978-94-007-4522-3_6
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4521-6
Online ISBN: 978-94-007-4522-3
eBook Packages: EngineeringEngineering (R0)