Maciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031991Maciejewski, Anthony A., Kinetic Limitations on the Use of Redundancy in Robotic Manipulators, IEEE Transactions on Robotics and Automation 7, no. 2 (April 1991): 205-210.http://hdl.handle.net/10217/67339The kinematic specification of motion for redundant manipulators has relied primarily on a formulation that decomposes joint velocity solutions into a pseudoinverse component and a homogeneous solution component. While such a formulation is conceptually appealing, since it treats the redundant degrees of freedom as independent from those required to maintain a desired end effector trajectory, it has been shown to be physically inaccurate when applied to the kinetic behavior of redundant manipulators. In this work, the kinetic behavior of the homogeneous solution component is analyzed in order to specify realistic limitations on the use of redundancy. It is shown that the equations that govern these limitations are related to the conditions for guaranteeing stability of the local torque minimization formulation.born digitalarticleseng©1991 IEEE.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.robotsredundancykinematicsJacobian matrixText