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Your question doesn't say if this is in an industrial setting or more general humanoid robot. In an industrial setting, I think you can get by with as few degrees of freedom as possible. For the most part, the environment, task, and end-effector are all custom designed and singular purpose. So if you can get by with only 3 or 4 DoF then go for it. Extra ...


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Kinematic redundancy is certainly a good thing to avoid objects in the workplace etc., but we could simply see this as we want an extra degree of freedom for its own sake. More fundamentally important is that 7DOF avoids gimbal lock situations. That's when some of the degrees of freedom in joint space happen to map to the same movement in object space. ...


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Adding a 7th joint, and still targeting a 6D pose, would result in a null space of at least one dimension anywhere in the workspace. That is basically one the reasons people may wish to use a 7-DOF Robot for a 6-DOF End-Effector. It adds what is called Kinematic Redundancy. Your robot's end effector can reach a certain pose with different joint position ...


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