Some Computational Aspects of Robot Kinematic Redundancy

Jadran Lenari

Abstract. This paper discusses some computational aspects related to the direct and inverse kinematics problems of serial and robot parallel mechanisms, kinematic singularities, workspace determination, manipulability, and kinematic flexibility. With the focus on kinematic redundancy, an example of the humanoid shoulder presents peculiarities in robot and human motion performing different tasks, such as the manipulation of heavy objects or writing. Redundancy enables to the robot to solve different tasks and in an infinite number of ways. The robot can thus simultaneously solve additional secondary tasks of lower priority.

Keywords: Robot kinematics, direct and inverse kinematics problem, parallel robots, workspace, redundant robots, humanoid robots

LNCS 8672, p. 1 ff.

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