Hostname: page-component-78c5997874-lj6df Total loading time: 0 Render date: 2024-11-13T02:34:54.562Z Has data issue: false hasContentIssue false
  • English
  • Français

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
Get access Rights & Permissions [Opens in a new window]

Abstract

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)