Solvability Of Reactions And Inverse Dynamics Problem For Complex Kinematic Chains
2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR)(2016)
摘要
Driving forces and joint reactions for a known, prescribed motion of a robot have to be determined in a process of robot design. For robots with complex kinematical structure and/or redundantly actuated the inverse dynamic problem may have non-unique solution. Certain driving forces or selected reactions in some joints may still be unique, however. The paper presents a general method of detection of unique drives and joint reactions. The kinetostatic analysis with free-body diagram of the robot is used. Three variants of the method are proposed: rank comparison method, and QR and SVD based methods. Two simple robotic systems are considered as examples: planar gripper and spatial redundant manipulator.
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关键词
complex kinematic chains,joint reactions,robot design,complex kinematical structure,redundantly actuated robots,inverse dynamic problem,driving forces,drives,kinetostatic analysis,free-body diagram,rank comparison method,QR based method,SVD based method,planar gripper,spatial redundant manipulator,solvability
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