Task options for redundancy resolution using configuration control

New goals for redundancy resolution are established based on manipulator dynamics and end-effector characteristics. These goals can be accomplished by employing the configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques, or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical advantage and velocity ratio and the end-effector sensitivity are also used as performance measures to be improved by proper utilization of redundancy. The goals for redundancy resolution presented allow a more efficient utilization of the redundant joints based on the desired task requirements