An overview of null space projections for redundant, torque-controlled robots

@article{Dietrich2015AnOO,
  title={An overview of null space projections for redundant, torque-controlled robots},
  author={Alexander Dietrich and Christian Ott and Alin Albu-Sch{\"a}ffer},
  journal={I. J. Robotics Res.},
  year={2015},
  volume={34},
  pages={1385-1400}
}
One step on the way to approach human performance in robotics is to provide joint torque sensing and control for better interaction capabilities with the environment, and a large number of actuated degrees of freedom (DOF) for improved versatility. However, the increasing complexity also raises the question of how to resolve the kinematic redundancy which is a direct consequence of the large number of DOF. Here we give an overview of the most practical and frequently used torque control… CONTINUE READING
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