Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error

Methods for designing a multitask controller for redundant robots are often implemented by a null space projector. Although null-space projection-based controllers can achieve the task decoupling performance among prioritized tasks, it is vulnerable to uncertainty due to modeling errors in practice. Accordingly, this paper provides an analytical proof of the task coupling effect caused by the uncertainty and verifies it through a simulation.