2 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution
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Particular attention has been devoted to the study of redundant manipulators in the last 10-15 years. Redundancy has been recognized as a major characteristic in performing tasks that require dexterity comparable to that of the human arm, e.g., in space applications such as in the Special Purpose Dexterous Manipulator (SPDM) of Canadarm-2 designed for the International Space Station. While most non-redundant manipulators possess enough degrees-of-freedom (DOFs) to perform their main task(s), i.e., position and/or orientation tracking, it is known that their limited manipulability results in a reduction in the workspace due to mechanical limits on joint articulation and presence of obstacles in the workspace. This has motivated researchers to study the role of kinematic redundancy. Redundant manipulators possess extra DOFs than those required to perform the main task(s). These additional DOFs can be used to fulfill user-defined additional task(s). The additional task(s) can be represented as kinematic functions. This not only includes the kinematic functions which reflect some desirable kinematic characteristics of the manipulator such as posture control , joint limiting , and obstacle avoidance , , but can also be extended to include dynamic measures of performance by defining kinematic functions as the configuration-dependent terms in the manipulator dynamic model, e.g., impact force , inertia control , etc.
KeywordsObstacle Avoidance Kinematic Analysis Additional Task Task Space Joint Velocity
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