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Definition of "null space of the Jacobian" |
the subspace N(J) in R^n of joint generalized velocities that do not produce any end-effector velocity, in the given manipulator posture. Nonzero subspace for a redundant manipulator allows to handle redundant degrees of freedom. The existence of nonzero subspace allows for redundant manipulator to generate internal motions of the manipulator structure that do not change the end-effector position and orientation. As a consequence allows manipulator reconfiguration into more dexterous postures for execution of a given task. |
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