Abstract
Optimum configurations of a hyper-redundant n - R multiple-link planar robot manipulator are studied in this work. The problem consists of optimising the joint torques caused by an external force and the gravity of links in a given position of the end effector. In order to minimise the joint torques the manipulator produces configurations of typical forms which can easily be recognised and mathematically described. This leads to extremely effective algorithms that can be used for real-time kinematic control of robot manipulators which possess several degrees of freedom.
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