Abstract
Kinematic redundancy is a topic which has been discussed under various contexts to co-achieve a primary task along with additional tasks. However a structural analysis about kinematic redundancy to comprehend what really is happening underneath the hood has seldom been a topic of discussion. In this paper, kinematic redundancy is viewed from a slightly different perspective to deduce the constraints in the null space. Task distortion is explained in a geometrical sense and it lays the foundation for possible corrective measures for a better realization of the task. For the sake of generality, the considered primary task in this work is highly constraining in nature. A 9 DOF serial manipulator will be used instead of a conventional 7 DOF manipulator as the constraints imposed by the primary task results in insufficient null space dimensions.
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Acknowledgments
This research was funded by the Austrian Ministry for Transport, Innovation and Technology (BMVIT) within the framework of the sponsorship agreement formed for 2015–2018 under the project RedRobCo.
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© 2016 CISM International Centre for Mechanical Sciences
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Neythalath, N., Brandstötter, M., Hofbaur, M. (2016). Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_4
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DOI: https://doi.org/10.1007/978-3-319-33714-2_4
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