Abstract
In this paper three algorithms are presented to generate automatically bases of null spaces (kernels) for symbolic matrices resulting from some tasks of robotics. Orthogonal (orthonormal) bases of kernels can be derived if required. Additionally, a switching procedure is described to continuously transfer from a currently used basis, which becomes ill-conditioned, to another, well-conditioned basis. The algorithms are illustrated on computing the Jacobian matrix kernel of an exemplary 4DoF planar pendulum manipulator to point out their advantages and disadvantages.
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Duleba, I., Karcz-Duleba, I. (2020). On an Analytic Generation of Null Space Spanners in Robotics. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_9
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DOI: https://doi.org/10.1007/978-3-030-19648-6_9
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