Kinematic redundancy examples

All the examples below illustrate kinematic redundancy for a three-link planar manipulator with consecutive link lengths of 3, 4 and 4. Note that the three-link manipulator is kinematically redundant when considering end-effector position (x, y) only (without orientation).

Definitions

Example #1: Non-dextrous workspace: (x, y) = (3, 2)

Example #2: Dextrous workspace: (x, y) = (1.5, 1.5)

Example #3: End-effector position with infinite # of possible rotations

Created by Mathematica  (September 29, 2003)