Modeling and analysis of a hybrid mechanism with kinematic and force redundancies

Redundancy problem in robotics can be classified as kinematic redundancy and force redundancy. However, they have been investigated separately. In light of the human mechanism that has simultaneous kinematic and force redundancies, this paper deals with kinematic and dynamic modeling of a hybrid mechanism that has simultaneous force and kinematic redundancies. Secondly, we proposed a motion generation algorithm that considers both force and kinematic redundancies. Finally, the performance of the proposed algorithm is shown by simulation.