Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios

Abstract This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system by introducing rigid grasping or contact constraints, we deal problem even without such physical constraints which have been overlooked, yet it includes a wide range of applications as free-floating manipulators passive unwanted actuation failure. In addition, an intuitive application example drawn result, is formulated optimization to alleviate disturbance stemmed from satisfy other inequality constraints. The analysis proposed method are verified number numerical simulations well experiments 7-degrees-of-freedom robotic arm. particular, consider joint failure scenarios can be occurred at certain torque-controlled robot practical case studies performed actual