Articles | Volume 4, issue 1
Mech. Sci., 4, 97–112, 2013

Special issue: Recent advances and current trends in numerical multibody...

Mech. Sci., 4, 97–112, 2013

Research article 18 Feb 2013

Research article | 18 Feb 2013

Reaction Null Space of a multibody system with applications in robotics

D. N. Nenchev 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.