Abstract
The sub-optimality of redundant manipulators inverse kinematics solutions deriving from calculus of variations is discussed through some considerations of topology. This paper clarifies the relations of homotopy linking together, on one hand, self-motion manifolds and, on the other, joint space paths. With an example, it proves that the sub-optimality does not depend on the homotopy classes of self-motions but is linked to both the presence of distinct self-motions and the existence of different homotopy classes of joint space paths. This paper also clarifies the notion of pre-image of a workspace path, showing that more complex surfaces than deformed tori can be generated in the Cartesian configuration space depending on some topological properties of the path.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
