Kinematics of redundantly actuated closed chains

Kumar, Vijay; Gardner, John

doi:10.1109/70.54745

Cited by 86 publications

(22 citation statements)

References 17 publications

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“…is defined as (10) According to the duality between the velocity vector and force vector, the force relation between the independent joints and the dependent joints is described by (11) where (12) Then, when activating all the joint actuators, the effective load referenced to the independent joints is expressed by (13) where (14)…”

Section: Alsomentioning

confidence: 99%

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A five-bar finger mechanism involving redundant actuators: analysis and its applications

Suh

1999

IEEE Trans. Robot. Automat.

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Analysis and useful applications of redundant actuation are addressed in this work. A five-bar finger mechanism driven by redundant actuators is given as an illustrative example. It is shown that judicial choice of the location of one redundant actuator greatly enhances the load handling capacity of the system, when compared to those of minimum actuation and more than two redundant actuation, Also, methodologies for stiffness and motion frequency modulations via redundant actuation are investigated in this work. Internal load distribution associated with the stiffness and motion frequency modulations is further discussed. Specifically, the motion frequency of the system is modulated by employing inertial and the spring-like impedance properties created by internal loading. The motion frequency as well as the amplitude of oscillation can be actively adjusted during the motion, and the equilibrium position about which the vibration occurs can also be arbitrarily changed during the motion. Furthermore, using the stiffness modulation capability, a point-to-point motion can be accomplished by a progressive movement of equilibrium posture, which is termed as a virtual trajectory. To show the effectiveness of the proposed algorithms, several simulation results are illustrated.

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Section: Alsomentioning

confidence: 99%

“…In 29, is a subset of define in (13) and is the inverse of defined in (17). Since is not a square matrix and the dimension of is greater than that of has infinite solution for a given…”

Section: A Maximum Load Handling Capacity Of a Five-bar Finger Mechamentioning

confidence: 99%

A five-bar finger mechanism involving redundant actuators: analysis and its applications

Suh

1999

IEEE Trans. Robot. Automat.

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“…These muscles seem to be redundant in a kinematic viewpoint and they are kinematically coupled by the complex skeletal structures. Developing a satisfactory control architecture for such anthropomorphic systems will be another challenging issue; although several algorithms, which were reported in redundantly actuated robotic systems, do exist [7][8][9][10]. There will also be many design parameters in designing a similar robotic counterpart.…”

Section: Introductionmentioning

confidence: 98%

Modulation of dynamic behavior of anthropomorphic robot: A biomimetic approach with force redundancy

Lee

2011

Mechatronics

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“…Therefore, both sophisticated algorithms of force distribution and control methodologies are needed to realize the aforementioned applications. In the state of the art, GARDNER, et al [10][11] , proposed partitioned actuator set control(PASC) and weighted average technique to discuss the problem of distributing the redundant forces. Quadratic programming [12][13] were presented to optimize the distributed forces and minimize the internal forces.…”

Section: Introduction mentioning

confidence: 99%

Stability analysis for a planar parallel manipulator with the capability of self-coordinating the load distribution

Kong

Wang

Zhang

et al. 2015

Chin. J. Mech. Eng.

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Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system. where Rp i i   = -J b J . Then all the expressions in Eq. (32) and Eq. (33) are obtained.

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Kinematics of redundantly actuated closed chains

Cited by 86 publications

References 17 publications

A five-bar finger mechanism involving redundant actuators: analysis and its applications

A five-bar finger mechanism involving redundant actuators: analysis and its applications

Modulation of dynamic behavior of anthropomorphic robot: A biomimetic approach with force redundancy

Stability analysis for a planar parallel manipulator with the capability of self-coordinating the load distribution

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