A survey on the control methods for the redundant robot manipulators

여유자유도를 갖는 로보트 매니퓨레이터의 제어방법에 관한 조사 연구

This survey paper presents a review of control methods for redundant robot manipulators. Use of redundant degree of freedoms by local and global optimization techniques are described in terms of the Jacobian matrix equation for the redundant robot manipulators. Relevant problems for further use of redundant robot manipulators are then discussed.