Dynamic simulation of a kinematically redundant manipulator system

A number of methods have been proposed for the control of kinematically redundant manipulators, that is, those with more than the minimum number of degrees of freedom. This article uses a dynamic simulation to test whether proposed schemes should, in fact, work well when the dynamics of the actual system are considered. In order to perform a realistic simulation, a nine‐degree‐of‐freedom arm has been designed using commercially available motors. The simulation shows the effects that specifying a secondary goal has on the satisfaction of the primary goal. Also shown is the dependence of servo performance on modeling the load.