Control of redundant robots by dual-optimization

A kinematically redundant robot, with more degrees of freedom than required to complete a desired task, can be useful because of its inherent kinematics flexibility and dynamic performance. It is very difficult, however, to implement optimal redundancy control, while simultaneously taking into account both kinematics and dynamics. To realize dual-optimization control, a new redundant robot mechanism with local degrees of freedom is introduced, and its kinematic and dynamic features are investigated Simulation results demonstrate the effectiveness of the proposed method.