  The paper focuses on the redundancy resolution in kinematic control of a new
type of serial manipulator composed of multiple tensegrity segments, which are
moving in a multi-obstacle environment. The general problem is decomposed into
two sub-problems, which deal with collision-free path planning for the robot
end-effector and collision-free motion planning for the robot body. The first
of them is solved via discrete dynamic programming, the second one is worked
out using quadratic programming with mixed linear equality/nonequality
constraints. Efficiency of the proposed technique is confirmed by simulation.
