Kinematic functions for redundancy resolution using configuration control

摘要: The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These are accomplished by employing the recently developed configuration control approach. Redundancy is achieved controlling joint inertia matrix or mass that affect inertial torques, reducing torques due to gravity loading payload. mechanical-advantage velocity-ratio also used as performance measures be improved proper utilization of redundancy. Furthermore, compliance, sensitivity, impulsive force at impact introduced criteria. allow a more efficient redundant joints desired task requirements.