Null space velocity control with dynamically consistent pseudo-inverse

Null space velocity control is essential for achieving good behaviour of a redundant manipulator. Using the dynamically consistent pseudo-inverse, the task and null space motion and forces are decoupled. The paper presents a globally stable null space velocity controller and the gradient projection technique in conjunction with the dynamically consistent pseudo-inverse. The physical meaning and influence of the compensation terms in null the space velocity controller are explained. The performance of the proposed null space controller is tested on 4. d.o.f planar redundant manipulator interacting with the environment.