Redundancy Resolution Schemes for Parallel
Manipulators with Force Redundancy
by Bhaskar Dasgupta
Abstract:
This paper is intended to draw attention
to the potential of static redundancy in parallel manipulators and the
need to develop effective redundnacy resolution schemes specially suited
for application in such robot manipulators.
A few simple redundancy resolution schemes are discussed and compared
with respect to their performance through an example.
Minimization of a high-index norm is observed to yield a good solution
for generic requirement of actuator force optimization. More studies
may reveal suitable schemes for different kinds of constraints.