KINEMATIC REDUNDANCY AND SENSOR REDUNDANCY FOR ENHANCEMENT OF ROBOT TRACKING PERFORMANCE

Imprecision of robot's internal sensors acid its influence on trajecto ry tracking tasks along with high dynamic requirements are the main is sues in this paper, The solution proposes redundancy introduction (in the shape of small mechanism at the top of the robot) for resolving bo th problems. The inverse kinematics of the redundant robot has been so lved at the tactical level of control via the Distributed Positioning (DP) concept. The redundancy applied reduces the tracking error caused by dynamic requirements and partly by imprecision of internal sensors . However, additional solutions with external position sensor could be used in order to reduce sensor imprecision influence. All solutions a re very conservative considering changes in basic (non-redundant) robo t. Simulation results provide clear insight in the validity of propose d solutions.