Remarks on some dynamical problems of controlling redundant manipulators

The author establishes the mutual effects of dynamical constraints on redundant manipulators, the type of behavior they produce, and the various kinds of controlling algorithms. The various methods for controlling the robot are analyzed and compared for their dynamical behavior. This is done via a geometric viewpoint where each method induces a geometrical structure on the joint space. This sheds some light on the global dynamical advantages and disadvantages of each method, some of which were previously overlooked