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Kinematic control of redundant robot manipulators: A tutorial

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Abstract

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions.

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  1. Dipartimento di Informatica e Sistemistica, Università degli Studî di Napoli “Federico II”, via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano

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  1. Bruno Siciliano
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Siciliano, B. Kinematic control of redundant robot manipulators: A tutorial. J Intell Robot Syst 3, 201–212 (1990). https://doi.org/10.1007/BF00126069

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  • DOI: https://doi.org/10.1007/BF00126069

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