Clarifying the definition of redundancy as used in robotics

Several descriptions of redundancy are presented in the literature , often from widely dif ferent 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 dif ference 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 .