Dynamic Control of Kinematically Redundant Robotic Manipulators

Several methods for task space control of kinematically redundant manipulators have Myo-Inositol been proposed in the literature.Most of these methods are based on a kinematic analysis of the manipulator.In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics.The algorithm is particularly well suited for the Seafood Serving Pots class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.