The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks

This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. Rather than relying on Jacobian null-space projections, the method separates the end-effector twist into task and redundant components using geometrically defined twist projectors. This formulation provides a direct and intuitive distinction between task-relevant and task-irrelevant motions in operational space, enabling a compact inverse kinematics scheme that naturally handles both manipulator and task redundancy.

Source: arXiv:2607.18940v1 - http://arxiv.org/abs/2607.18940v1 PDF: https://arxiv.org/pdf/2607.18940v1 Original Link: http://arxiv.org/abs/2607.18940v1