Chapter 11Self-Motion Planning with ZIV Constraint
11.1 Introduction
The number of DOF is very vital for a manipulator. A manipulator is kinematically and/or functionally redundant when more DOF are available than the minimum number required to perform the primary task of a specific manipulator [62]. Compared with a non-redundant manipulator, a redundant manipulator has wider operational space and extra degrees to configure the manipulator to meet additional functional constraints without affecting the position (and/or orientation) of the end-effector [62]. Therefore, much attention and effort in the robotic research community have been paid to studies on and applications of redundant robot manipulators [62, 94, 104, 159, 182, 195–199].
One of the important issues in controlling redundant robot manipulators is self-motion [159, 182, 200]; that is, going from one state to another state without moving the end-effector. By keeping the end-effector at a certain position/orientation (in mathematics, with the end-effector velocity 
), the manipulator can adjust its configuration 
in the joint space from one state (e.g., an initial joint state, 
) to another state (e.g., a desired joint state, ...
Get Robot Manipulator Redundancy Resolution now with the O’Reilly learning platform.
O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.
