Simulation study demonstrates predictable joint space drift limits in redundant robot arms during cyclic tasks, indicating that trajectories stabilize near minimal arc length.
The control of kinematically redundant manipulators using only pseudoinverse control is known to produce drift in joint space when a cyclic task is performed in rectilinear space. The properties of this drift are examined by performing numerical experiments. This drift has predictable properties including a numerically stable limit in some situations. At this limit the arc length of the path in joint space appears to be near a minimum.>
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Klein et al. (1989) studied this question.
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