A kinetostatics-based study of uniqueness of reactions and drives in robotics

• Autorzy: Pękal M. , Frączek J.

Identyfikatory

DOI

10.14313/JAMRIS_2-2017/13

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

kinetostatics; nullspace method; uniqueness analysis

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 2
• Strony: 21--30
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Pękal M.

• Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00–665 Warsaw, Poland

autor

Frączek J.

• Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00–665 Warsaw, Poland

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).