Added redundancy resolution with joint damping term through null-space projection

[Prier]

Because the eurofusion robot is a redundant manipulator, we are observing that the joints drifts, when maintaing a Cartesian pose through the operational space controller. This can be addressed by introducing a damping term to the joint velocities, through null-space projection.

See equation 3.54 in Chapter 3 of Bruno Sicialiano Robotics: Modelling, Planning and Control.

Instead of only introducing damping we could also add a gain for a desired joint position. There are several options we could explore for how to get the most optimal control considering singularities, joint limits etc.

At the end of chapter 3, Bruno list the following references we could look into:

59. A. De Luca, G. Oriolo, B. Siciliano, “Robot redundancy resolution at the accel-
    eration level,” Laboratory Robotics and Automation, vol. 4, pp. 97–106, 1992.
60. Y. Nakamura, Advanced Robotics: Redundancy and Optimization, Addison-
    Wesley, Reading, MA, 1991.
61. Y. Nakamura, H. Hanafusa, “Inverse kinematic solutions with singularity ro-
    bustness for robot manipulator control,” ASME Journal of Dynamic Systems,
    Measurement, and Control, vol. 108, pp. 163–171, 1986.
62. Y. Nakamura, H. Hanafusa, “Optimal redundancy control of robot manipu-
    lators,” International Journal of Robotics Research, vol. 6, no. 1, pp. 32–42,
64. Y. Nakamura, H. Hanafusa, T. Yoshikawa, “Task-priority based redundancy
    control of robot manipulators,” International Journal of Robotics Research,
    vol. 6, no. 2, pp. 3–15, 1987.
65. B. Siciliano, “Kinematic control of redundant robot manipulators: A tutorial,”
    Journal of Intelligent and Robotic Systems, vol. 3, pp. 201–212, 1990.

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