Abstract
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviours at joint level, since closed loop trajectories in Cartesian space do not in general map in closed loop trajectories in joint space. Holonomic kinematic inversion algorithms avoid this problem. In this paper, we point out some numerical problems that may arise when discretizing a holonomic kinematic inversion algorithm. It is shown that the knowledge of the additional set of holonomic constraints is needed in order to overcome such drawbacks. A simple case study that shows the potential effects of discretization is discussed.
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