The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks

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.

Robotics (cs.RO)

arXiv:2607.18940 [cs.RO]

(or arXiv:2607.18940v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.18940 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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