KINEMATICS OF REDUNDANTLY ACTUATED CLOSED CHAINS

被引:64
作者
KUMAR, V [1 ]
GARDNER, JF [1 ]
机构
[1] PENN STATE UNIV,DEPT MECH ENGN,UNIVERSITY PK,PA 16802
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 02期
关键词
D O I
10.1109/70.54745
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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. © 1990 IEEE
引用
收藏
页码:269 / 274
页数:6
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