Robot Manipulator Redundancy Resolution
12 Manipulability-Maximizing SMP Scheme
Studies on and applications of a redundant robot manipulator are the topical research issues in the robotic community. In particular, the inverse-kinematics problem, which finds the joint motion for a given manipulator’s end-effector task is one of the important and challenging issues in operating the redundant manipulators. Note that there are an infinite number of joint configurations of a manipulator with respect to a specific task, due to the redundancy; and redundancy resolution is to make a suitable selection from the configurations. This kind of selection is usually used to accomplish some secondary tasks for robot manipulators or generate an...