An optimal redundancy coordination method for an haptic interface

In this work an optimal method for the solution of the inverse kinematics of a redundant haptic interface is shown. Methods that act on three different spaces are analyzed: at displacements, at velocities and at accelerations levels. For the first two levels features of different criterions for the redundancy coordination, based on kinematic performance indexes will be briefly presented. At the accelerations level it will be presented an original method based on the working frequency of the device. This algorithm automatically switches between two different approaches: at low working frequencies it is preferred a solution that optimizes the dexterity feature of the system, whereas at high frequencies a method that reduces the required motor torques.