Motion Constraints and Control of the UR5e Robot Based on its Redundancy

This article explores the utilization of manipulator redundancy, focusing on motion constraints and control applications for the UR5e robotic arm. The study investigates the kinematic redundancy inherent in the UR5e and its implications for enhancing adaptability and optimizing performance. Various control strategies, including joint limits, manipulability constraints, and obstacle avoidance, are examined to showcase the versatility of redundancy utilization. The UR5e's response to obstacles and restricted movements is analyzed, highlighting the system's robustness in achieving desired end-effector positions. Through a comprehensive exploration of redundancy in the UR5e manipulator, this research contributes valuable insights into optimizing robotic performance and adaptability in complex and dynamic environments.