여유자유도를 갖는 로보트 매니퓨레이터의 제어방법에 관한 조사 연구

A survey on the control methods for the redundant robot manipulators

This survey paper presents a review of control methods for redundant robot manipulators. Use of redundant degree of freedoms by local and global optimization techniques are described in terms of the Jacobian matrix equation for the redundant robot manipulators. Relevant problems for further use of redundant robot manipulators are then discussed.