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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 4, 97-112, 2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.
Research article
18 Feb 2013
Reaction Null Space of a multibody system with applications in robotics
D. N. Nenchev Graduate School of Engineering, Tokyo City University, Tamazutsumi 1-28-1, Setagaya-ku, Tokyo 158-8557, Japan
Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

Citation: Nenchev, D. N.: Reaction Null Space of a multibody system with applications in robotics, Mech. Sci., 4, 97-112,, 2013.
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