Kinematic study of a planar redundant manipulator with three degrees of freedom

Abstract

The joint angles, velocities and accelerations, for a planar redundant manipulator with three degrees of freedom, are analysed, while the characteristic point of the manipulator end-effector tracks an imposed planar curve. In the first stage, only the end-effector displacement, velocity and acceleration are considered, while, in the second stage, the velocity and acceleration transmitted by means of Jacobian null space are added. These last ones determine the redundant manipulator self-motion and aim the optimisation of different performance criteria imposed by means of an arbitrary function. The obtained comparative results for the two stages are presented graphically.