Comparison of null-space and minimal null-space control algorithms
Keyword(s):
SUMMARYThis paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian null-space. We show how the null-space projection affects the performance of the null-space tracking algorithm. The results are verified with the simulation and real implementation on a redundant mobile robot composed of 3 degrees of freedom (DOFs) mobile platform and 7-DOF robot arm.
Keyword(s):
2020 ◽
Keyword(s):
2013 ◽
Vol 9
(2)
◽
Keyword(s):
Keyword(s):
Keyword(s):
Keyword(s):
2018 ◽
Vol 15
(6)
◽
pp. 172988141881469
◽
2010 ◽
Vol 7
(3)
◽
pp. 199-207
◽
Keyword(s):