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Redundant Robots

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Springer Handbook of Robotics

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Abstract

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, different first-order methods to solve kinematic redundancy are arranged in two main categories, namely those based on the optimization of suitable performance criteria and those relying on the augmentation of the task space. Redundancy resolution methods at the acceleration (second-order differential) level are then considered in order to take into account dynamics issues, e. g., torque minimization. Conditions under which a cyclic task motion results in a cyclic joint motion are also discussed; this is a major issue when a redundant manipulator is used to execute a repetitive task, e. g., in industrial applications. The use of kinematic redundancy for fault tolerance is analyzed in detail. Suggestions for further reading are given in a final section.

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Abbreviations

CLIK:

closed-loop inverse kinematics

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

DOF:

degree of freedom

NASA:

National Aeronautics and Space Agency

SCARA:

selective compliance assembly robot arm

SVD:

singular value decomposition

TPBVP:

two-point boundary value problem

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Authors and Affiliations

  1. Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043, Cassino, Italy

    Stefano Chiaverini

  2. Department of Computer, Control, and Management Engineering, University of Rome “La Sapienza”, Via Ariosto 25, 00185, Rome, Italy

    Giuseppe Oriolo

  3. Department of Electrical and Computer Engineering, Colorado State University, CO 80523-1373, Fort Collins, USA

    Anthony A. Maciejewski

Authors
  1. Stefano Chiaverini
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  2. Giuseppe Oriolo
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  3. Anthony A. Maciejewski
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Corresponding author

Correspondence to Stefano Chiaverini .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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KUKA LBR iiwa – Kinematic redundancy available from http://handbookofrobotics.org/view-chapter/10/videodetails/813

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Free floating autonomous valve turning (task priority redundancy control + task concurrence) available from http://handbookofrobotics.org/view-chapter/10/videodetails/814

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Human inspired tele-impedance and minimum effort controller for improved manipulation performance available from http://handbookofrobotics.org/view-chapter/10/videodetails/815

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Human motion mapping to a robot arm with redundancy resolution available from http://handbookofrobotics.org/view-chapter/10/videodetails/816

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Configuration space control of KUKA lightweight robot LWR with EXARM exoskeleton available from http://handbookofrobotics.org/view-chapter/10/videodetails/817

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FlexIRob – Teaching nullspace constraints in physical human-robot interaction available from http://handbookofrobotics.org/view-chapter/10/videodetails/818

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Visual servoing control of baxter robot arms with obstacle avoidance using kinematic redundancy available from http://handbookofrobotics.org/view-chapter/10/videodetails/819

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Chiaverini, S., Oriolo, G., Maciejewski, A.A. (2016). Redundant Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_10

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