Topology-based analysis for redundant manipulators under kinematic constraints

The self-motion manifold topology of redundant manipulators is significantly affected by the introduction of kinematic constraints. In this paper we analyze the impact of kinematic constraints in the global topological sense. The semi-singularity is a fundamental concept for this analysis and its analytical properties are presented, along with the introduction of dexterity measures suitable for redundant manipulators under constraints. A planar manipulator with one degree of redundancy illustrates the methodology