摘要: There is a proliferation of methods for resolving the kinematic redundancy of a211fixed base, serial link manipulator based on its kinematic velocity model. Three 211such methods for determining solutions for joint velocities ba... 展开 There is a proliferation of methods for resolving the kinematic redundancy of a211fixed base, serial link manipulator based on its kinematic velocity model. Three 211such methods for determining solutions for joint velocities based on eq. (1) have 211been developed by researchers at the Oak Ridge National Laboratory (ORNL), 211namely: (1) the Input Relegation Control (IRC) Method; (2) the Belmans and 211Culioli (B&C) method; and (3) an extension of the B&C method termed Full Space 211Parameterization (FSP). The purpose of this paper is to perform an analytical 211comparison of the three methods with added focus on identifying limitations 211and/or deficiencies associated with them. 收起