Motion Generation for Redundant Manipulators

Abstract

The requirements involving manipulator robot flexibility and adaptivity are increasing every day. The use of the greater number of degrees of freedom, with respect to the minimal number required for the completion of a certain class of task, plays an important role in improving the robot flexibility. This is especially important in manipulation in cluttered work space, where the increased number of degrees of freedom may efficiently be used for avoiding obstacles, or avoiding the manipulator singularities. Therefore, research becomes more and more significant in the domain of redundant manipulator control, aimed at utilizing the redundant manipulator preferences completely.