Hierarchical Kinematic Analysis of a Redundant Robot

  • Daniel Martins
  • Raul Guenther


This paper briefly reviews the hierarchical kinematic analysis, and apply it to a redundant manipulator. This application is done by extending the Jacobian matrix of the redundant manipulator with a careful selection of an extra row. This method is applied to the Roboturb manipulator, a redundant robot specifically designed to repair eroded hydraulic turbine blades.


hierarchical kinematic analysis redundant manipulators graph theory screw theory 


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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Daniel Martins
  • Raul Guenther
    • 1
  1. 1.Departamento de Engenharia MecnicaUniversidade Federal de Santa CatarinaFlorianpolisBrazil

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