I know this equation: $\tau = J^T f$. In my case, the Jacobian $J$ is not square. Is it valid to use the pseudoinverse of $J^T$ to calculate end effector forces $f$ based on joint torques $\tau$? I have just never seen this equation used with given joint torques, this is why I am curious.


Short answer: you can use it.

Long answer: Depend on your case, but I have seen many papers where they use the pseudoinverse of the non-square Jacobian matrix.

The rectangular Jacobian matrix opens the window to optimize in terms of other variables such as space constraints or force minimization.

The pseudo inverse by definition (in a redundant manipulator) minimizes the joints velocities.



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.