Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

In this paper we discuss the relation between the two approaches to velocity command generation for nonredundant robotic mechanisms, which the two groups of the authors proposed recently and independently of each other. It will be shown analytically that the singularity-consistent null space based approach, and the split Jacobian approach, are equivalent. Analysis of the behavior at a singularity will be presented from the viewpoint of both approaches. An analytical example will be used to demonstrate the theoretical results