Kinematic redundancy: Kinetics for use with redundant manipulators

Abstract

Kinematic redundancy: Kinetics for use with redundant manipulators Kousuke Okabe, an Associate Professor in the Department of Electrical and Computer Engineering, explores kinematic redundancy and the redundant manipulator using the Grassmann algebra. In recent years, the industrial world has witnessed the launch of manipulators with kinematic redundancy such as those from Yaskawa Electric Corporation's MOTOMAN-SIA series. However, for many of these, redundancy is applied kinematically, through contact avoidance between the arm and the environment, and not dynamically. The robot's operations include contact avoidance and turning movements. Much of the time when it is not required, the redundancy is not utilised, but rather consumes more energy due to the increased weight.