On Locally Optimal Redundancy Resolution using the Basis of the Null Space
Eugenio Monari,Yi Chen,Rocco Vertechy,Eugenio Monari,Yi Chen,Rocco Vertechy
This paper presents two methods for the computation of the null space velocity command in redundant robots. Both these methods resort to the solution of a constrained optimization problem. The first one is a formalization of the traditional Gradient Projection Method (GPM) which guarantees the respect of the joint bounds and a gradual activation/deactivation of the null space command. The second o...
