A study of a kinematically redundant manipulator structure

Abstract

Six degrees of freedom is only the minimum requirement for a manipulator to have full spatial positioning capability. However, effective use of more than six degrees of freedom is not a simple problem. Those systems with redundant degrees of freedom which have been successfully operated are based on end-point sensing. The present paper deals with ways of making effective use of additional degrees of freedom in conventional, open-loop, industrial robot type operation.