Title :
On the inverse kinematics and statics of cable-suspended robots
Author :
Roberts, Rodney G. ; Graham, Todd ; Trumpower, Jefferson M.
Author_Institution :
Dept. of Electr. Eng., Florida State Univ., Tallahassee, FL, USA
Abstract :
The paper examines some issues concerning the inverse kinematics and statics of cable suspended robots and studies some of the inherent workspace limitations that result from the fact that the robot is cable actuated. The paper presents a necessary and sufficient condition for a cable suspended robot to be capable of achieving static equilibrium at a given configuration. This condition is based on the left null space of an augmented manipulator Jacobian and is easily implemented as an algorithm for testing configurations. To illustrate the efficacy of the results, planar and fully spatial examples are presented
Keywords :
Jacobian matrices; robot kinematics; statics; augmented manipulator Jacobian; cable actuation; cable suspended robots; configuration testing; fully spatial examples; inherent workspace limitations; inverse kinematics; left null space; static equilibrium; statics; sufficient condition; Angular velocity; Cables; Jacobian matrices; Manipulators; NASA; Null space; Orbital robotics; Robot kinematics; Transmission line matrix methods; Vectors;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.637374
