The kinematic or dynamic control methods of manipulator with kinematic redundancy using a performance measure suffer from the problems of repeatibility and excessive joint torques. In this thesis the cause of the problems has been analyzed by using Measure Constraint Locus(MCL). The analysis reveals that when a joint trajectory deviates the workspace of a group determinded by MCL, repeatibility is not conserved and large joint torques are induced; i.e. the main cause of the problems is that a joint trajectory deviates the workspace of a group.
A solution for the problems is to adopt a performance measure called J-Minor measure. This approach has been applied to the planar 3 degree of freedom manipulator and spatial 4 degree of freedom manipulator. In this thesis, it has been revealed that J-Minor measure has the group whose workspace is the whole workspace of manipulator. That is, if J-Minor measure is used in control methods, any tasks of end effector don't compel a joint trajectory to deviate the workspace of a group. Therefore, the problems can be settled by using J-Minor measure.
