Abstract
Robots with many DOF and several simultaneous objectives necessarily require a redundancy resolution. In most state-of-the-art approaches, one solves optimization problems for a hierarchical arrangement of the involved tasks. The highest-priority task is executed employing all capabilities of the robotic system. The second-priority task is then performed in the null space of this highest-priority task. In other words, the task on the second level is executed as well as possible without disturbing the first level. The task on level three is then executed without disturbing the two higher-priority tasks, and so forth.
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