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Redundancy resolution is achieved by controlling the joint inertia matrix or the end\u2010effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical advantage and velocity ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end\u2010effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy\u2010resolution criteria. The new goals for redundancy resolution presented in this article allow a more efficient utilization of the redundant joints based on the desired task requirements. Simple case studies using computer simulations are described for illustration.<\/jats:p>","DOI":"10.1002\/rob.4620090307","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:08:48Z","timestamp":1183727328000},"page":"411-451","source":"Crossref","is-referenced-by-count":23,"title":["Task\u2010based configuration control of redundant manipulators"],"prefix":"10.1002","volume":"9","author":[{"given":"Homayoun","family":"Seraji","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"issue":"12","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, on Systems, Man and Cybernetics"},{"key":"e_1_2_1_4_2","unstructured":"K. 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