Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version



Suggested Citation:
Kumar, V. and J.F. Gardner. (1990). "Kinematics of Redundantly Actuated Closed Chains." IEEE Transactions on Robotics and Automation, Vol. 6(2)2. pp. 269 - 274.

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The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distribution between the actuators while avoiding or exploiting singularities are presented.



Date Posted: 05 October 2010

This document has been peer reviewed.