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redunant

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Dynamics of redundant robots – inverse solutions
Ronald L. Huston, Timothy P. King
Journal:

Robotica / Volume 4 / Issue 4 / October 1986

Published online by Cambridge University Press:

09 March 2009, pp. 263-267
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SUMMARY
The dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.