Reaction Null Space of a multibody system with applications in robotics
This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other un...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2013-02-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/4/97/2013/ms-4-97-2013.pdf |
| Summary: | This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided. |
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| ISSN: | 2191-9151 2191-916X |