Implementation of passive force control with redundant manipulators

An investigation is made of how physical quantities such as velocities, forces, and admittance and impedance matrices transform between task-space and joint-space of redundant manipulators. It is found that parallel redundant manipulators have joint-space force redundancy. The joint-space velocities are subjected to constraints, the violation of which would induce mechanical failure of the manipulator. Serial redundant manipulators, on the other hand, have a higher DOF only in joint-space velocities. The joint-space forces, in this case, are subjected to constraints, the violation of which would require infinite joint velocities