Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
Load independence of the dynamically consistent inverse of the Jacobian matrix
International Journal of Robotics Research
Robotic cell for custom finishing operations
International Journal of Computer Integrated Manufacturing
Dynamic Control and Analysis of a Nonholonomic Mobile Modular Robot
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Analysis on the interaction between the nonholonomic mobile modular robot and the environment
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
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Null space velocity control is essential for achieving good behaviour of a redundant manipulator. Using the dynamically consistent pseudo-inverse, the task and null space motion and forces are decoupled. The paper presents a globally stable null space velocity controller and the gradient projection technique in conjunction with the dynamically consistent pseudo-inverse. The physical meaning and influence of the compensation terms in null the space velocity controller are explained. The performance of the proposed null space controller is tested on 4. d.o.f planar redundant manipulator interacting with the environment.