| Summary: | Although a lot of tesearch effort has been expended in the last decade on the problem of motion planning for redundant robotic manipulators, none of the approaches reported previously offers a readily implementable solution. A redundant manipulator has degrees of fi*eedom in excess of its task space dimension, and therefore has a non-unique solution to the inverse position kinematics problem. For a specified end effector move, and efficient use of the excess degrees of freedom implies the choice of motion plan which also achieves desired secondary objectives, such as optimization of a specified objective function.
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