The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
arXiv:2607.18940v1 Announce Type: new Abstract: 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
Overview
arXiv:2607.18940v1 Announce Type: new Abstract: 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
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2607.18940
