Stability of Null-space Control Algorithms

Generated the Integer Null Space and Conditions for Determination of an Integer Basis Using the ABS Algorithms

Comparison of null-space and minimal null-space control algorithms

This paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian nullspace. We show how the null-space projection affects the performance of the null-space tracking algorithm. Th...

Block Toeplitz Algorithms for Polynomial Matrix Null-space Computation

In this paper we present new algorithms to compute the minimal basis of the nullspace of polynomial matrices, a problem which has many applications in control. These algorithms take advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial matrix. The analysis done in both aspects, algorithmic complexity and numerical stability, shows that the algorithms a...

An improved Toeplitz algorithm for polynomial matrix null-space computation

In this paper we present an improved algorithm to compute the minimal null-space basis of polynomial matrices, a problem which has many applications in control and systems theory. This algorithm takes advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial matrix. The analysis of algorithmic complexity and numerical stability shows that the algorithm is ...

Motion Behavior of Null Space in Redundant Robotic Manipulators

As well known, robot manipulator is utilized in many industrial fields. However manipulator motion has a single function at most and is so limited because of low degree-offreedom motion. To improve this issue, it is necessary for the robot manipulator to have redundant degree-of-freedom motion. The motion spaces of redundant manipulator are divided into work space motion and null space motion. ...