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Introduction

  • Alexander ReiterEmail author
Chapter
  • 817 Downloads
Part of the BestMasters book series (BEST)

Abstract

Kinematic redundancy describes a manipulator’s topological property of featuring more joints than necessary to assume any configuration in its task space of given dimension. Figure 1.1 illustrates a planar robot with three joints. Since only the horizontal and the vertical position coordinates of the end-effector but not its orientation are selected to be task space coordinates, the manipulator is kinematically redundant. Similarly, the industrial robot from Figure 1.2 consists of a manipulator with six revolute joints on top of a linear axis which also results in the robot being kinematically redundant since the end-effector pose can be described by means of three coordinates each for its position and for its orientation.

Keywords

Industrial Robot Revolute Joint NURBS Curve Task Space Joint Trajectory 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Fachmedien Wiesbaden 2016

Authors and Affiliations

  1. 1.LinzAustria

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