Zero dynamics in kinematically redundant robots

The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given