Improving redundant robotic manipulator precision using heuristic motion resolution measures

Kinematically redundant robotic manipulators are capable of concurrently achieving multiple manipulation goals, including collision avoidance and energy minimization, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for micromanipulation tasks. This work outlines a heuristic computational method for controlling and designing robotic manipulators to achieve greater effective motion resolution on specific tasks. The efficacy of this method is demonstrated through case studies in workspace planning and in morphological and mechanical design optimization.