Modelling and simulation of redundant robot in contact tasks

The problem of force regulation in constrained-motion tasks via kinematic redundancy is discussed. The inverse kinematics of redundant robot in free motion case is solved by distributed positioning (DP) concept and in constrained-motion case via modified DP concept. Task separation in DP concept requires from the redundancy fast and precise tracking along with force regulation. The complex numeric example gives a clear insight in the role of the redundancy in three motion phases: free motion (provides better positioning), impact (shock absorber) and constrained motion (active compliance and better tracking)