IEEE Transactions on Robotics and Automation · 2000 · 27 citations · 21 references
EngineeringMechanical EngineeringRobotics EngineeringDynamical SystemsRobot KinematicsRoboticsJacobian AnalysisJacobian MatricesKinematicsManipulator DynamicsRedundancy ResolutionSingularity AnalysisDynamics Of Redundant ManipulatorsJacobian TransformationsManipulator Dynamics In Redundancy ResolutionManipulator KinematicsOperational Space FormulationRedundant Manipulator DynamicsRedundant Manipulator KinematicsSingularity Theory
An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundant manipulator are derived in a compact form. In particular, the resulting EXOS dynamics is able to identify the inner dynamic structure. Its efficacy and efficiency have been demonstrated through comparative analysis and simulation.
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