Computer Vision News - January 2022

39 Mahdieh (Madi) Babaiasl Redundancy A robot has 7 degrees of freedom as the figure below: And if it wants to manipulate a rigid object in a 3D space, the object only needs 6 degrees of freedom (3 for rotation and 3 for translation) out of the seven to be manipulated: In other words, the kinematic function is a mapping from a higher-dimensional joint space to a lower-dimensional work space and thus the robot arm is considered to be redundant meaning that it has more degrees of freedom than the task to be performed. 7-DOF Robot ARM