Robot Manipulator Redundancy Resolution
9 QP-Based Self-Motion Planning
Kinematically redundant manipulators are those that have more DOF than required for (specific) end-effectors’ position-and-orientation tasks. This implies that redundancy can also be established with respect to some particular tasks; for example, positioning only. For non-redundant manipulators, the joint motion is usually determined uniquely by a prescribed end-effector trajectory and, thus, there is no freedom left to handle secondary tasks, such as the handling of joint physical limits and environmental constraints (e.g., obstacles). In comparison, redundant manipulators have wider operational space and extra DOF to meet a number of functional constraints and performance criteria because there exist an infinite number of joint configurations as feasible solutions (corresponding to a prescribed end-effector task).