Abstract
A robotic manipulator is redundant when there are more degrees of freedom in the joints than in the operational space. Redundant manipulators can track a given path for the end-effector by an infinite number of different joint space paths. Most controlling algorithms exploit the redundancy to apply additional constraits such as dynamical optimization criteria, obstacle avoidance, singularity avoidance and such. When these are applied locally. i.e. for infinitesimal displacements, then the global overall motion of the manipulator may be unexpected. The motion may not be repeatable or may be unstable. If the constraints are global, then the control may be undefined over certain regions of the workspace or may introduce algorithmic singularities.
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