Control

Null-Space Control

Null-space control is a technique for redundant manipulators that executes secondary objectives using joint motions that do not affect the primary task. Motions are projected through the null space of the task Jacobian, so a 7-DoF arm can, for example, track an end-effector pose while simultaneously avoiding joint limits, obstacles, or singular configurations. It is a core mechanism in operational space and whole-body control.

Why it matters for physical AI

Redundant arms and humanoids have more joints than a task strictly needs; exploiting that redundancy safely is essential for natural, collision-free behavior around people and clutter.