{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T23:41:39Z","timestamp":1771717299175,"version":"3.50.1"},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2007,9,1]],"date-time":"2007-09-01T00:00:00Z","timestamp":1188604800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian null-space. We show how the null-space projection affects the performance of the null-space tracking algorithm. The results are verified with the simulation and real implementation on a redundant mobile robot composed of 3 degrees of freedom (DOFs) mobile platform and 7-DOF robot arm.<\/jats:p>","DOI":"10.1017\/s0263574707003402","type":"journal-article","created":{"date-parts":[[2007,2,26]],"date-time":"2007-02-26T09:17:12Z","timestamp":1172481432000},"page":"511-520","source":"Crossref","is-referenced-by-count":18,"title":["Comparison of null-space and minimal null-space control algorithms"],"prefix":"10.1017","volume":"25","author":[{"given":"Bojan","family":"Nemec","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leon","family":"\u017dlajpah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Damir","family":"Omr\u010den","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2007,9,1]]},"reference":[{"key":"S0263574707003402_ref8","unstructured":"8. 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Hsu P. , Hauser J. and Sastry S. , \u201cDynamics control of redundant manipulators,\u201d Proceedings of the IEEE Conference on Robotics and Automation, Philadelphia, PA (1988) pp. 183\u2013187."},{"key":"S0263574707003402_ref13","doi-asserted-by":"publisher","DOI":"10.1093\/comjnl\/18.1.74"},{"key":"S0263574707003402_ref26","unstructured":"26. Simon D. , Kapellos K. and Espiau B. , \u201cControl laws, task and procedures with ORCCAD: Application to the control of an underwater arm,\u201d Proceedings of the International Advanced Robotics Programme Workshop on Underwater Robotics, Toulon, France (1996) pp. 1027\u20131176."},{"key":"S0263574707003402_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700002800"},{"key":"S0263574707003402_ref20","unstructured":"20. Oh Y. , Chung W. 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C. , \u201cInstability of pseudoinverse acceleration control of redundant mechanisms,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA (2000) pp. 2575\u20132582.","DOI":"10.1109\/ROBOT.2000.846416"},{"key":"S0263574707003402_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313163"},{"key":"S0263574707003402_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.801046"},{"key":"S0263574707003402_ref25","unstructured":"25. Park J. , Chung W. and Youm Y. , \u201cCharacterization of instability of dynamic control for kinematically redundant manipulators,\u201d Proceedings of the IEEE Conference on Robotics and Automation, Washington, DC (2002) pp. 2400\u20132405."},{"key":"S0263574707003402_ref27","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/3074.001.0001","volume-title":"Foundations of Robotics: Analysis and Control","author":"Yoshikawa","year":"1990"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003402","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T05:17:55Z","timestamp":1736831875000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003402\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,9]]},"references-count":27,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2007,9]]}},"alternative-id":["S0263574707003402"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003402","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,9]]}}}