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Encyclopedia of Systems and Control pp 1–10Cite as

Redundant Robots

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Abstract

Redundancy may occur in different ways in a robotic system. This article focuses on the resolution of kinematic redundancy, i.e., on the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem; this is indeed an issue of major relevance for motion planning and control purposes.

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Author information

Authors and Affiliations

  1. Dipartimento di Ingegneria Elettrica e dell’Informazione “Maurizio Scarano”, Università degli Studi di Cassino e del Lazio Meridionale, Cassino (FR), Italy

    Stefano Chiaverini

Authors
  1. Stefano Chiaverini
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Corresponding author

Correspondence to Stefano Chiaverini .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, MN, USA

    Tariq Samad

Section Editor information

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Chiaverini, S. (2020). Redundant Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_173-2

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_173-2

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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Chapter history

  1. Latest

    Redundant Robots
    Published:
    30 November 2019

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_173-2

  2. Original

    Redundant Robots
    Published:
    13 March 2014

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_173-1

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