Redundancy Resolution Schemes for Parallel Manipulators with Force Redundancy

摘要: This paper is intended to draw attention to the potential of static redundancy in parallel manipulators and the need to develop effective redundnacy resolution schemes specially suited for application in such robot manipulators. A few simple redundancy resolution schemes are discussed and compared with respect to their performance through an example. Minimization of a high-index norm is observed to yield a good solution for generic requirement of actuator force optimization. More studies may reveal suitable schemes for different kinds of constraints.