EFFICIENT FORMULATION OF THE FORCE DISTRIBUTION EQUATIONS FOR SIMPLE CLOSED-CHAIN ROBOTIC MECHANISMS

被引：43

作者：

CHENG, FT ^{[1
]}

ORIN, DE ^{[1
]}

机构：

[1] OHIO STATE UNIV,DEPT ELECT ENGN,COLUMBUS,OH 43210

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1991年 / 21卷 / 01期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/21.101133

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Force distribution is the inverse dynamics problem for multiple-chain systems in which the motion is completely specified and the internal forces/torques to effect this motion are to be determined. A computationally efficient formulation to the force distribution problem is presented. This formulation is applicable to a number of simple closed-chain robotic mechanisms including dexterous hands, multiple manipulators, and multilegged vehicles. Modeling of chain contacts is relatively general so that hard point contact, soft finger contact, or rigid contact with an irregular-shaped object or with uneven terrain, may be handled. The dynamic effects of the chains and physical limits on their actuators are efficiently included in the formulation through use of the inverse dynamics and Jacobian relationships for each chain. Based on this efficient formulation, a variety of methods may then be developed to solve the force distribution problem.

引用

页码：25 / 32

页数：8

共 23 条

[1]

ALBERTS TE, 1988, 1988 P IEEE INT C RO, P1490

[2]

BRANDL H, 1986, DEC P IFAC IFIP IMAC

[3]

CHENG FT, 1989, THESIS OHIO STATE U

[4]

CHENG FT, 1989, 1989 P IEEE INT C RO, P940

[5]

FEATHERSTONE R, 1987, ROBOT DYNAMIC ALGORI

[6] A RECURSIVE LAGRANGIAN FORMULATION OF MANIPULATOR DYNAMICS AND A COMPARATIVE-STUDY OF DYNAMICS FORMULATION COMPLEXITY [J].

HOLLERBACH, JM .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1980, 10 (11) :730-736

[7]

HSU P, 1988, 1988 P IEEE INT C RO, P384

[8]

IBERALL T, 1988, IEEE ROBOTICS AU APR

[9] ANALYSIS OF MULTIFINGERED HANDS [J].

KERR, J ;

ROTH, B .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 4 (04) :3-17

[10]

KERR J, 1986, 1986 P IEEE INT C RO, P1361

← 1 2 3 →