Kinetic limitations on the use of redundancy in robotic manipulators

where the C, are matrices of Coriolis and centrifugal coefficients. If T is used to denote the torque due to the minimum norm acceleration, then T can be obtained by substituting the first term of (6), i.e., the pseudoinverse solution, into (7), which results in where T is the vector of joint torques, H is the inertia matrix, C is a vector of torques due to Coriolis and centrifugal effects, and g is the gravity vector. The elements of the vector c can be written in quadratic form, so that