if we have a robot with 5 DoF and we want to plan its movement. The inverse kinematic solver will do this job without a doubt. However, it is usually assumed that axes can be moved in a synchronized way. More precisely, if the solution of my IK solver is q_dot = [0.01,0,0.01,0.01,0.01], the robot will try to move 4 axes at the same time, however, what if the power of the robot is just sufficient to move only 2 axes at the same time. The actual motion will be probably different than one expected.
- Using the nullspace technique, one can pre-define the sequence of axes so that axes are moved in this pre-defined hierarchy. However, I am afraid that this approach will limit the flexibility of the robot too much. Does anyone know a better solution or reference about it?