Purpose The null-space projection method is commonly adopted for controlling redundant robots, which undoubtedly … requires the robot Jacobian matrix inverse. This paper aims to provide a novel control scheme, which enables null-space control …-based null-space control approach for redundant robots is proposed. The null-space degrees of freedom are separated from the …

revealing QR factorization method (RRQR) is considered. It gives precious information about numerical rank and null space. By …

-generalized null space condition, which is a proper generalization of generalized null space condition, is proposed. Sufficient …-generalized null space condition. Some examples are given to illustrate our main results. Copyright Springer Science+Business Media …