Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints

Kinematic redundancy is a topic which has been discussed under various contexts to co-achieve a primary task along with additional tasks. However a structural analysis about kinematic redundancy to comprehend what really is happening underneath the hood has seldom been a topic of discussion. In this paper, kinematic redundancy is viewed from a slightly different perspective to deduce the constraints in the null space. Task distortion is explained in a geometrical sense and it lays the foundation for possible corrective measures for a better realization of the task. For the sake of generality, the considered primary task in this work is highly constraining in nature. A 9 DOF serial manipulator will be used instead of a conventional 7 DOF manipulator as the constraints imposed by the primary task results in insufficient null space dimensions.