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A knowledge-based system for redundancy resolution and path planning, using self-motion topology of redundant manipulators

The paper presents a knowledge based approach to redundancy resolution of redundant manipulators using self motion topology knowledge. The approach can work under joint limits. End effector positions with negligible error can be attained by increasing the resolution of the configuration space maps being processed. Using the presented approach, performance of different path planning alternatives can also be evaluated for redundant manipulators.