Redundancy resolution of a Cartesian space operated heavy industrial manipulator

In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing control of all actuators independently. In cooperation between industry and university, a novel control system has been developed for the redundant heavy manipulator Robojet(R) that supports the operator by calculating the inverse kinematic model and controlling all actuators automatically. The paper presents the solution of the redundant inverse kinematics of the Robojet using the null-space method and its implementation in a control system