Kinematic Redundancy Resolution for Baxter Robot

摘要

This paper reports the results of the kinematic redundancy resolution for the Baxter research robot arms. A robot manipulator arm is said to be kinematically redundant if it has more degrees of freedom than strictly needed for executing a given task. The redundant degrees of freedom can be used to achieve additional goals while the given task is executed. In this study, we will use cartesian velocity control to show that a Baxter robot arm can be programmed to improve its manipulability measure, avoid singularities or obstacles while its end effector follows the required six degrees of freedom motion trajectory.