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This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end\u2010effector motion and the user\u2010defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end\u2010effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.<\/jats:p>","DOI":"10.1002\/rob.4620070607","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:53:18Z","timestamp":1183719198000},"page":"897-928","source":"Crossref","is-referenced-by-count":139,"title":["Improved configuration control for redundant robots"],"prefix":"10.1002","volume":"7","author":[{"given":"H.","family":"Seraji","sequence":"first","affiliation":[]},{"given":"R.","family":"Colbaugh","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","article-title":"Automatic supervisory control of the configuration and behavior of multibody mechanisms","volume":"7","author":"Li\u00e9geois A.","year":"1977","journal-title":"IEEE Trans. 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