Feasibility evaluation of dynamically linearized kinematically redundant planar manipulators

The objective of this research is to investigate a promising theoretical development which could lead to advanced manipulator concepts offering fast dynamic and control features. The application of `dynamic linearization´ to open-chain kinematically redundant planar and spatial manipulator towards the end of determining the feasibility of dextrous robots exhibiting both high mechanical and computational speed is investigated. In comparing planar dynamically linearized manipulators with standard nonlinear designs, it is shown that performance advantages and reductions in joint actuator energy consumption can be realized using relatively simple trajectory optimization schemes. Kinematically redundant planar manipulators are shown to outperform their nonredundant counterparts. The results pertaining to planar manipulators only are summarized