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arXiv · 2607.18940

The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks

Luc Baron·Damien Chablat
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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.

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Luc Baron, Damien Chablat. 2026-07-21. The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks. https://arxiv.org/abs/2607.18940

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