提出新方法分解机械臂运动，直观区分任务与冗余动作。
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
- 用几何投影分离末端执行器运动为任务与冗余部分
- 实现紧凑的逆运动学求解，自然处理机械臂和任务冗余
- 适合研究机器人运动规划与控制的学者参考
本文提出一种针对执行低自由度任务的串联机械臂的扭曲分解框架。该方法不依赖雅可比零空间投影，而是通过几何定义的扭曲投影器，将末端执行器的运动分解为任务相关与冗余两部分。该形式在操作空间中直接且直观地区分了任务相关与无关运动，从而支持一种紧凑的逆运动学求解方案，能够自然处理机械臂自身及任务层面的冗余性。
原文摘要 · Abstract (English)
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.
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