The paper deals with the stability of control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on minimal-null space projection and pseudoinverse based projection into the Jacobian null space. We show how the null-space projection affects the stability of the null-space tracking algorithm. The results are verified with the ...

In this paper, we consider the precoder design for an underloaded or critically loaded downlink multi-user multiple-input multiple-output (MIMO) communication system. We propose novel precoding and decoding schemes which enhance system performance based on rate splitting at transmitter single-stage successive interference cancellation receivers. The proposed null-space (SNS) utilizes linear com...

Given a matrix, the Null Space Problem asks for a basis of its null space having the fewest nonzeros. This problem is known to be NP-complete and even hard to approximate. The null space of a forest is the null space of its adjacency matrix. Sander and Sander (2005) and Akbari et al. (2006), independently, proved that the null space of each forest admits a {−1, 0, 1}-basis. We devise an algorit...

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...

In recent years, a number of tools have become available that recover the underlying control policy from constrained movements. However, few have explicitly considered learning the constraints of the motion and ways to cope with unknown environment. In this paper, we consider learning the null space projection matrix of a kinematically constrained system in the absence of any prior knowledge ei...

Abstract In this article we introduce robustness measures in the context of multi-objective integer linear programming problems. The proposed are line with concept decision robustness, which considers uncertainty respect to implementation a specific solution. An efficient solution is considered be robust if many solutions its neighborhood as well. This rather new area research differs from conc...