On the Terminology and Geometric Aspects of Redundant Parallel Manipulators

arXiv:2604.09156v1 Announce Type: new Abstract: Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redundancy, that is only possible in PKM, is differently classified in the literature. In this paper a consistent terminology for general redundant PKM is proposed. A kinematic model is introduced with the configuration space (c-space) as central part. The notion of kinematic redundancy is recalled for PKM. C-space, output, and input singularities are distinguished. The significance of the c-space geometry is emphasized, and it is pointed out geometrically that input singularities can be avoided by redundant actuation schemes. In order to distinguish different actuation schemes of PKM a non-linear control system is introduced whose dynamics evolves on the c-space. The degree of actuation (DOA) is introduced as the number of independent control vector fields, and PKM are classified as full-actuated and underactuated. Relating this DOA to the degree of freedom (DOF) allows to classify the actuation redundancy.

Related

• Bird-Inspired Spatial Flapping Wing Mechanism via Coupled Linkages with Single Actuator
• Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
• One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms
• Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics

Source: arXiv cs.RO | 2026-04-13