10.8.1. Advantages of Redundancy

Try these first

1. 1.

   What is kinematic redundancy?

   Hint

   Consider why having extra movement options might be beneficial.

2. 2.

   List one advantage of kinematic redundancy.

   Hint

   Think of tasks needing various angles of reach.

3. 3.

   What does kinematic redundancy primarily allow?

   • Less flexibility
   • Greater flexibility
   • Increased singularities

   Hint

   Think about how extra movements can benefit task execution.

4. 4.

   True or False: Redundancy can help avoid joint limits.

   • True
   • False

   Hint

   Consider how extra options can create alternatives.

5. 5.

   A robotic arm has 8 DOFs but needs to complete a simple task that requires only 5. Discuss the potential benefits this redundancy provides in a crowded environment.

   Hint

   Consider how having options can help in unpredictable scenarios.

6. 6.

   In a simulation, a robot experiences a singular configuration while moving a load. Propose strategies to prevent this before it occurs.

   Hint

   Think about how previous knowledge can guide current actions.