Redundant manipulators are increasingly used for their greater capabilities
but entail greater complexity in their control since the end effector
trajectory must be controlled together with their self motions.
In direct teleoperation an operator cannot control simultaneously all
the degrees of freedom. The traditional approach is to solve a redundancy
resolution problem autonomously. For applications such as space robotics
or other unstructed environments, this approach is not suitable due to the
multiplicity of constraints. A generalized framework for the operation of
manipulators with more degrees of freedom than an operator can control
simultaneously is being developed.
E. Dupuis, V. Hayward, E. Papadopoulos