ICRA 2012 Paper Abstract


Paper TuA08.3

Hara, Naoyuki (Tokyo City University), Handa, Yoichi (Tokyo City University), Nenchev, Dragomir (Tokyo City University)

End-Link Dynamics of Redundant Robotic Limbs: The Reaction Null Space Approach

Scheduled for presentation during the Regular Session "Redundant robots" (TuA08), Tuesday, May 15, 2012, 09:00−09:15, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on May 21, 2018

Keywords Direct/Inverse Dynamics Formulation, Force Control, Redundant Robots


It is shown that the Reaction Null Space formulation --- a method developed for motion analysis and reactionless motion generation of free-floating and flexible-base robots --- can be used to fully decouple the end-link dynamics of a kinematically redundant fixed-base robot. Decoupling is achieved thereby via the pseudoinverse of a coupling-inertia submatrix, in quite a different way from the dynamic decoupling achieved via the inertia-weighted generalized inverse of the manipulator Jacobian and known from the Operational Space formulation. The properties of the new formulation are clarified with the help of a comparative study on a representative motion/force control scenario. The simulation results show that the two formulations deliver identical results as far as end-link dynamics are concerned. The new method has an advantage with regard to joint space dynamics, though, which becomes apparent especially in the neighborhood of kinematic singularities, where the inertia-weighted generalized inverse of the manipulator Jacobian is ill-behaved.



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