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Clarifying the definition of redundancy as used in robotics

Published online by Cambridge University Press:  01 September 1997

E. Sahin Conkur  and
Rob Buckingham
E. Sahin Conkur
Affiliation:
AMARC, Faculty of Engineering, University of Bristol, 26-32 Park Row, Bristol, BS1 5LY UK
Rob Buckingham
Affiliation:
AMARC, Faculty of Engineering, University of Bristol, 26-32 Park Row, Bristol, BS1 5LY UK
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Abstract

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Several descriptions of redundancy are presented in the literature, often from widely different perspectives. Therefore, a discussion of these various definitions and the salient points would be appropriate. In particular, any definition and redundancy needs to cover the following issues; the difference between multiple solutions and an infinite number of solutions; degenerate solutions to inverse kinematics; task redundancy; and the distinction between non-redundant, redundant and highly redundant manipulators.

Keywords

RedundancyRoboticsSurvey
Type
Technical Note
Information
Robotica , Volume 15 , Issue 5 , September 1997 , pp. 583 - 586
Copyright
© 1997 Cambridge University Press