Incommensurate Robotic Manipulator

Incommensurate robotic manipulators, those with inconsistent units across their joints (e.g., degrees and radians), pose challenges for accurate path planning and inverse kinematics solutions. Current research focuses on selecting appropriate generalized inverses, such as the Mixed Inverse, to ensure unit consistency in algorithms like pseudo-inverse-based path planning, thereby preventing errors and unexpected robot behavior. This work is crucial for reliable control of robots with mixed units, improving the accuracy and robustness of robotic systems across various applications.