Performance Analysis of Kinematic and Actuation Redundancy in a Closed Link Manipulator
In this paper, we propose a closed link mechanism for kinematically redundant direct-drive manipulators and discuss its redundant actuation. The mechanism is kinematically equivalent to four joints of the shoulder through the elbow of an anthropomorphic 7 DOF manipulator. The mechanism uses five direct-drive motors to control 3 DOF position of the endeffector. One DOF exhibits kinematical redundancy and another DOF demonstrates actuation redundancy. A new parameterization that always allows full utilization of actuation redundancy is proposed. The advantage of actuation redundancy is numerically demonstrated.
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