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stability of the control algorithms

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Comparison of null-space and minimal null-space control algorithms
Bojan Nemec, Leon Žlajpah, Damir Omrčen
Journal:

Robotica / Volume 25 / Issue 5 / September 2007

Published online by Cambridge University Press:

01 September 2007, pp. 511-520
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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.