Several descriptions of redundancy are presented in the literature, often from widely different perspectives. Therefore, a discussion of these various definitions and the salient points would be appropriate. In particular, any definition and redundancy needs to cover the following issues; the difference between multiple solutions and an infinite number of solutions; degenerate solutions to inverse kinematics; task redundancy; and the distinction between non-redundant, redundant and highly redundant manipulators.

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Bringing a new robot to market is an exciting venture. When that robot is a new type of robot the venture takes on new proportions – it becomes an adventure. Dr Rob Buckingham, managing director of OCRobotics Ltd, describes the principles of a new snake arm robot that has applications in a number of industries including aerospace (engines and airframes), nuclear, space and surgery as well as a whole range of general inspection and maintenance tasks.

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