Abstract: The problem of improving flexibi li ty o f redundant robot is studied. Amethod for improv ing flexibi li ty o f redundant robot in which tw o v ectors approach each o ther is pro posed. Based o n mean theorem, the method combines Jacobian’ seigenv alue wi th i t s eigenv ector to fo rm a null space v ector o f redunda ntrobot. The flexibi lity of robot is improved by the self-motion of robot. Finally , a simulation example fo r a plana r 3R redundant robot is presented to compare co nv ergence and stabili ty w ith those o f other method.

Key words: velocity ratio ellipse ball, vecto rapproaching method, flexibility