Parallel Robots

6.7 Redundancy Resolution

6.7.1 Introduction

Redundancy is a major characteristic of robot manipulators in performing tasks that require dexterity. Most robot manipulators have the same number of actuators as the number of required degrees-of-freedom to perform their task. Although this nonredundant structure of the manipulator is cost-efficient, it limits its manipulability to perform the required task. Many biological mechanisms, such as human shoulder, arm, or hand benefit from redundancy in actuation. In general, redundant manipulators hire more number of actuators than the required number of degrees-of-freedom to perform the required task ...