SUMMARYControl algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

中文翻译：

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任务优先级操作空间控制中动态模型误差的影响

摘要基于逆运动学 (IK) 或逆动力学 (ID) 方法的许多自由度 (DOF) 系统的控制算法是机器人研究的两个著名主题。大量的自由度允许设计许多按优先级排列的并发任务，可以在运动学或动态水平上解决。本文研究了操作空间控制算法中建模误差对影响动态参数知识的不确定性的影响。研究了对零空间投影的影响和稳态误差的来源。带有故意注入错误的数值模拟用于验证这些想法。