Kinematics of Redundantly Actuated Closed Chains
Loading...
Penn collection
Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
GRASP
Engineering
Mechanical Engineering
Engineering
Mechanical Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Gardner, John F.
Contributor
Abstract
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.
Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
1990-04-01
Journal title
Volume number
Issue number
Publisher
Publisher DOI
Comments
Suggested Citation: Kumar, V. and J.F. Gardner. (1990). "Kinematics of Redundantly Actuated Closed Chains." IEEE Transactions on Robotics and Automation, Vol. 6(2)2. pp. 269 - 274. ©1990 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.