Abstract
A method for resolving the degrees of redundancy of a manipulator by imposing constraints in the form of functions of joint angles and their time-derivatives is presented. Several types of constraint functions, involving joint angles, joint torques and rate of energy dissipation, are considered for a 3R planar manipulator. Singular manipulator configurations can be avoided during manipulator motions if the prescribed values of joint angles, joint torques and rate of energy dissipation lie between some predetermined upper and lower bounds.
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