Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories
Gerold Huber Dirk Wollherr Gerold Huber Dirk Wollherr
Redundant robots offer the possibility of improving agility, compared to their non-redundant counterparts, by exploiting the additional kinematic DOFs to increase a measure called manipulability. While it is common to maximize the manipulability measure during redundancy resolution locally, global optimization of a full trajectory is usually computationally too expensive and thus only considered f...