I am referring to pre-computed torque control techniques that are based on the Task Space dynamic model.

Maybe by using pseudo-inverse for the Jacobian and the task space inertia matrix ?

Cheers, Titouan

  • $\begingroup$ @PeterCorke maybe ? $\endgroup$
    – Dawi
    Commented Jul 27, 2020 at 3:50
  • $\begingroup$ I don't think there is any software/control technique that will add a degree of freedom missing from the mechanical structure. $\endgroup$
    – Chuck
    Commented Jul 27, 2020 at 13:28

1 Answer 1


This is a somewhat awkwardly worded question, hopefully I'm getting at the essence of what you're trying to ask here.

In short, no, you can't because with 5 DOF, you won't be able to apply force/move the end effector of the robot in any arbitrary combination of directions.

However, it might be okay that you only have 5 DOF if the motions that you need to do also only have 5 DOF. (eg. only motions in x, y, z and rotation in the x and z dimensions)


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