Chapter 10 — Redundant Robots

Configuration space control of KUKA Lightweight Robot LWR with EXARM Exoskeleton

This video shows some advanced inverse kinematics mapping that enables the control of a redundant manipulator (KUKA LWR) by means of Cartesian location and geometric correspondence to the human arm. Thereby the null-space of the robot manipulator can be exploited to enable very intuitive operations. Joint limits and singularities are avoided, as well, by optimized mounting of the robot and the hand.
Telerobotics Lab