Reaction null space control of free-floating and elastic base robots

The equations of motion of both free-flying and elastic base robots have a similar structure. Particularly, we show that a so-called inertia coupling matrix plays a significant role for the dynamics. We derive necessary conditions for the existence of the null space of this matrix. The null space aims in decoupling manipulator motions from base motion. Decoupling means that fast motions can be performed without disturbing the base. Also, efficient inertial coupling can be achieved, which is helpful for controlling base motion through manipulator-induced reactions.