Title :
Kinematics of redundantly actuated closed chains
Author :
Kumar, Vijay ; Gardner, John F.
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
fDate :
4/1/1990 12:00:00 AM
Abstract :
The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distribution between the actuators while avoiding or exploiting singularities are presented
Keywords :
kinematics; robots; closed chains; coordination algorithms; hybrid manipulation system; indeterminacy; kinematics; optimal force distribution; robots; serial chain geometry; singularities; Actuators; Computational geometry; Control systems; Couplings; Equations; Legged locomotion; Manipulators; Parallel robots; Redundancy; Robot kinematics;
Journal_Title :
Robotics and Automation, IEEE Transactions on
