Pseudoinverses and null space velocity controller

In the paper we compare the influence of unweighted and inertia weighted pseudoinverse on controlling null space velocity of kinematically redundant manipulators. We show that with appropriate null space velocity controller we can decouple the system on acceleration level using both unweighted and inertia weighted pseudoinverse, while on force level inertia weighted pseudoinverse is the only one that decouples dynamics of redundant manipulator. The performance of the control algorithm using different pseudoinverses was evaluated using the simulation of 4 d.o.f. kinematically redundant robot