10.8. Kinematic Redundancy and Optimization

Try these first

1. 1.

   What is kinematic redundancy?

   Hint

   Think about flexibility and movement options.

2. 2.

   Name one benefit of having kinematic redundancy.

   Hint

   Consider what advantages extra movements provide.

3. 3.

   What defines kinematic redundancy?

   • More joints than needed
   • Fewer joints than needed
   • Only rotational joints

   Hint

   Consider the number of joints available.

4. 4.

   True or False: Kinematic redundancy can help avoid singular configurations.

   • True
   • False

   Hint

   Think about flexibility in movement.

5. 5.

   Given a specific task for a 6-DOF manipulator, define an optimization strategy considering energy efficiency and movement time.

   Hint

   Account for both energy and time elements.

6. 6.

   Design a simple motion plan for a manipulator to pick an object while avoiding obstacles, using the concepts of redundancy and optimization.

   Hint

   Sketch the path of the manipulator considering different configurations.