We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
A KINETOSTATICS-BASED STUDY OF UNIQUENESS OF REACTIONS AND DRIVES IN ROBOTICS.
- Authors
Pękal, Marcin; Frączek, Janusz
- Abstract
Reaction and driving forces may be non-unique in many robotic systems. This may pose a problem during robot design or its control synthesis. Hence, it is useful to detect which reaction or actuation forces are non-unique. Previously developed methods are designed for reactions uniqueness analysis only. These methods studied the constraint Jacobian matrix. The kinetostatics-based approach, presented in this paper, enables the simultaneous study of reactions and driving forces uniqueness. It allows the application of the criteria derived from the concepts of linear algebra, e.g. direct sum or nullspace. In this paper only the nullspace method is presented. Moreover, in order to illustrate the approach, five examples are provided.
- Subjects
ROBOT design &; construction; UNIQUENESS (Mathematics); LINEAR algebra
- Publication
Journal of Automation, Mobile Robotics & Intelligent Systems, 2017, Vol 11, Issue 2, p21
- ISSN
1897-8649
- Publication type
Article
- DOI
10.14313/JAMRIS_2-2017/13