Robotics 2 - Prof. De Luca Lecture 04 part 2 (4 Mar 2020)

0:00:00 Null-space methods
0:06:40 Geometric view on Jacobian null space
0:11:35 Linear-Quadratic Optimization
0:24:25 Projected Gradient (PG)
0:31:10 Typical objective functions
0:41:10 Example: Singularities of planar 3R arm
0:44:45 Minimum distance computation
0:49:10 Comments on null-space methods
0:52:15 Decomposition of joint space
0:57:00 Reduced Gradient (RG)
1:01:10 Comparison between PG and RG.