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In this article we provide a dynamic feedback control law that guarantees the tracking of a desired end effector trajectory and provides redundancy resolution by making the self\u2010motion of the manipulator flow along the projection of a given arbitrary vector field. By choosing this vector field to be the gradient of a cost function, for example, the manipulator can be made to seek an optimum configuration. The effectiveness of the control law is illustrated with simulation results.<\/jats:p>","DOI":"10.1002\/rob.4620060203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:02:38Z","timestamp":1183712558000},"page":"133-148","source":"Crossref","is-referenced-by-count":184,"title":["Dynamic control of redundant manipulators"],"prefix":"10.1002","volume":"6","author":[{"given":"Ping","family":"Hsu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John","family":"Mauser","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shankar","family":"Sastry","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cA constraint oriented approach to inverse problems for kinematically redundant manipulators \u201d Proc. of IEEE Int. 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