caa a22 4500 465797679 CHVBK 20180323112043.0 cr unu---uuuuu 170327e19900901xx s 000 0 eng 10.1007/BF00126069 doi (NATIONALLICENCE)springer-10.1007/BF00126069 Siciliano Bruno Dipartimento di Informatica e Sistemistica, Università degli Studî di Napoli "Federico II”, via Claudio 21, 80125, Napoli, Italy aut Kinematic control of redundant robot manipulators: A tutorial [Elektronische Daten] [Bruno Siciliano] In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions. Kluwer Academic Publishers, 1990 Redundant manipulators nationallicence robot kinematic control nationallicence singularities nationallicence pseudoinverses nationallicence optimization methods nationallicence projection operators nationallicence Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 201-212 0921-0296 3:3<201 1990 3 10846 https://doi.org/10.1007/BF00126069 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00126069 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Siciliano Bruno Dipartimento di Informatica e Sistemistica, Università degli Studî di Napoli "Federico II”, via Claudio 21, 80125, Napoli, Italy aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 201-212 0921-0296 3:3<201 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer