Configuring kinematically redundant robotic manipulators to increase effective task-specific motion resolution

Kinematically redundant robotic manipulators are capable of achieving multiple secondary manipulation goals, including collision avoidance and improved motion economy, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for micromanipulation tasks. This work outlines a heuristic computational method for configuring manipulators to achieve greater effective motion resolution on specific tasks. The efficacy of this method is demonstrated through case studies in workspace planning and morphological design optimization.