Comparison of null-space and minimal null-space control algorithms

Authors:
Bojan Nemec;Leon Žlajpah;Damir Omrčen
Affiliations:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana, Slovenia;Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana, Slovenia;Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana, Slovenia
Venue:
Robotica
Year:
2007

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Abstract

This 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.