Resolving the redundancy at the higher order derivatives

The kinematic redundancies of a robot manipulator are usually resolved at the velocity or at the acceleration level. There are no studies found in the literature where minimization of the norm of higher order derivatives used as a criterion for resolving the kinematic redundancies are investigated. Different responses and performance measure results when different control schemes are applied to resolve the kinematic redundancy. The effect of resolving the redundancy through minimizing different order derivatives of joint-angle space variables are investigated in this paper. Some interesting results are obtained.