A parallel algorithm and architecture for the control of kinematically redundant manipulators

where the subscript S refers to the secondary criterion. The overall solution is then given by substituting (3) into (2) to obtain that have been applied include joint range availability [19], singularity avoidance [26], [39], various measures of dexterity [5], [8], [11], [18], [31], [40], [41], and obstacle avoidance [23], [39]. The homogeneous solution can also be used to optimize secondary criteria defined in Cartesian space, either to impose a priority to the manipulation variables [28] or to avoid obstacles [23], by using