Reproducibility Data and MATLAB Code for “Dynamically Consistent Scalar Null-Space Torque Control for Single-Redundancy Manipulators under Joint-Torque Limits”

Description

This dataset provides the complete MATLAB reproducibility package supporting the numerical results reported in the manuscript entitled “Dynamically Consistent Scalar Null-Space Torque Control for Single-Redundancy Manipulators under Joint-Torque Limits.” The package includes the MATLAB reproducibility suite, deterministic simulation protocol, numerical audit file, generated simulation data, and source figures used to reproduce the reported results. The simulations cover: (i) equivalence between the full dynamically consistent torque projector and its scalar rank-one realization; (ii) geometric-to-dynamic null-space mismatch using the B-based Euclidean force-allocation baseline; (iii) saturation-active Monte Carlo evaluation comparing componentwise post-projection saturation with scalar pre-clipping; (iv) fixed-pose and torque-limited closed-loop task-preservation tests; (v) feasibility recovery when the nominal primary torque violates an actuator limit; and (vi) exact collapse of the dynamically consistent scalar feasibility interval at the task-demand boundary. All stochastic studies use the deterministic random seed 260908. The final numerical outputs were independently rerun in MATLAB and cross-checked through the included numerical audit. Translational position error and orientation error are reported separately to maintain dimensional consistency. The dataset is intended to support transparent verification and reproduction of the analytical and simulation results presented in the associated article. The sign of the one-dimensional scalar null coordinate depends on the arbitrary orientation of the null-space basis; therefore, physically equivalent results should be compared through the realized torque vector and feasibility geometry rather than the sign of the scalar coordinate alone.

Institutions

• Sepuluh Nopember Institute of Technology

  East Java, Surabaya

Categories

Licence