A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Burdick et al. (2002) studied this question.
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